Abstract: There is provided techniques for generating a depth map for a 2D panoramic image. A method is performed by an image processing device. The method comprises obtaining a depth map for the 2D panoramic image of a 3D environment. The depth map is generated from a 3D point cloud of the 3D environment. The depth map comprises some pixels with unknown depth values. The method comprises generating an edge map for the depth map. The edge map is generated from the depth map and indicates locations of edges in the 3D point cloud with unknown depth values in the depth map. The method comprises calculating a respective depth value for each of the pixels with unknown depth values in the depth map. Each respective depth value is calculated as a weighted interpolation of known depth values in a region of the depth map that surrounds said respective unknown depth value, where the known depth values do not cross any of the edges in the edge map.

Abstract: There is provided techniques for determining whether or not to include an image in a 3D model of a scene. A method is performed by an image processing device. The method is repeatedly performed for images obtained from an image scan of the scene that have not already been included in the 3D model. The method for each iteration k=1:K comprises obtaining a pose as determined for an image selected for iteration k and data used to compute the pose for the selected image, and determining, depending on whether a value for the image as computed as a function of the pose and the data for the selected image fulfils a quality criterion or not, whether, and when, to include the selected image in the 3D model. The selected image is included in the 3D model for iteration k when the value fulfils the quality criterion. The selected image is not included in the 3D model for iteration k when the value fails to fulfil the quality criterion.

Abstract: There is provided techniques for facilitating 3D measurements in a skybox image rendering environment. A method is performed by a controller. The method comprises obtaining an indication that a 2D panoramic image is rendered in the skybox image rendering environment of a reconstructed 3D environment. The method comprises deriving auxiliary visual information for the panoramic image from depth maps of the panoramic image. The auxiliary visual information identifies 3D measurable areas in the skybox image rendering environment. The method comprises imposing the auxiliary visual information on the panoramic image as rendered in the skybox image rendering environment.

Abstract: A method (1000) of changing a view within a virtual three-dimensional, 3D, environment is provided. The method comprises obtaining (s1002) a current view of the virtual 3D environment, where the current view is with respect to the first location, and obtaining (s1004) an indication of a user's action for changing a view within the virtual 3D environment, where the changed view is associated with a directional vector. The method further comprises identifying (s1006) a 3D virtual point corresponding to the directional vector and the distance from the first location to a real point associated to the 3D virtual point. The method further comprises based on the first location, a second location different from the first location and the distance determining (s1008) how to update the current view. Updating the current view is either enlarging a portion of the current view or changing to another view that is with respect to the second location.

Abstract: A method for processing images. The method includes obtaining a first image and a second image. The method also includes dividing the first image into N regions. The method also includes, for a first region of the first image, defining a corresponding first region of the second image, and, for a second region of the first image, defining a corresponding second region of the second image. The method also includes detecting a first feature in the first region of the first image and detecting a second feature in the second region of the first image. The method also includes searching the second image for a feature matching the first feature, wherein the searching of the second image for the feature matching the first feature is limited to searching only the corresponding first region of the second image.

Abstract: A method (700) of determining a scale factor is provided. The method comprises capturing (s702) a real-world environment using a camera resting on a plane, thereby generating an image. The camera comprises a supporting base including a first reference point. The method further comprises, based on the image, identifying (s704) a first three-dimensional (3D) point of a virtual 3D environment that is a reconstruction of the real-world environment. The first 3D point is mapped to the first reference point of the supporting base. The method further comprises determining (s706) the scale factor based on a coordinate of the first 3D point.

Abstract: A method (1000) of determining a dimension value indicating a physical dimension of a three-dimensional (3D) space is provided. The method (1000) comprises obtaining (s1002) a first image, wherein the first image is generated using a first lens of a camera, identifying (s!004) a first set of one or more key points included in the first image, and obtaining (s1006) a second image, wherein the second image is generated using a second lens of the camera. The method (1000) further comprises identifying (s1008) a second set of one or more key points included in the second image and determining (S1010) a set of one or more 3D points associated with the first set of key points and the second set of key points, wherein the set of one or more 3D points includes a first 3D point.