Abstract: A method of capturing three-dimensional (3D) information on a structure includes obtaining a first image set containing images of the structure with at least one physical camera located at a first position, the first image set comprising one or more images; reconstructing 3D information from the first image set; obtaining 3D information from a virtual camera out of an existing global model of the structure; determining correspondences between the obtained 3D information and the reconstructed 3D information; determining camera motion between the obtained 3D information and the reconstructed 3D information from the correspondences; and updating the existing global model by entering the obtained 3D information using the determined camera motion.

Abstract: A method and system capturing three-dimensional information of a scene on a structure includes operating a light pattern projector to project a known light pattern onto the scene; using at least two cameras, taking images of the scene, the images being two-dimensional images taken chronologically synchronous; using first and second images, and the known position and orientation of the cameras with respect to each other, extracting a first depth map of the scene; using the first image, the known light pattern, and the known position and orientation of the first camera and the light pattern projector with respect to each other, extracting a second depth map of the scene; and using the extracted first depth map and the extracted second depth map of the scene together to make a 3D measurement of the scene.

Abstract: A method of integrating new information from depth maps into an existing three-dimensional representation of an object surface, the representation being a truncated signed distance function (TSDF) noted in individual voxels, the TSDF indicating, to respective coordinates within a defined volume, a distance to a next surface, includes obtaining a depth map showing the object, the depth map containing values from measurements; and integrating new information from the depth map into the existing TSDF, wherein each individual voxel affected by the depth map within the TSDF is updated and the update for each updated voxel is selected from the group of a front update if said voxel is near the outer side, a rear update if the voxel is near the inner side, and an ambiguous update, each kind of update leads to a different weighting for the updated value within the voxel.