Telefonaktiebolaget Lm Ericsson (publ)

Quinten Dekker

Volodya Grancharov

A method for generating a 3D point cloud of a scene is performed by an image processing device. The method obtains digital images depicting the scene. Each digital image is composed of pixels. The method includes segmenting each of the digital images into digital image segments. The method includes determining a depth vector and a normal vector per each of the digital image segments by applying MVS processing to a subset of the pixels per each digital image segment. The method includes forming a map of depth vectors and normal vectors per each pixel in the digital images by, based on the determined depth and normal vectors per each of the digital image segments, estimating a 3D plane per digital image segment. The method includes generating the 3D point cloud of the scene as a combination of all the maps of depth vectors and normal vectors per each pixel in the digital images.

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The Hague, Netherlands

Quinten Dekker