Patent attributes
In various embodiments, techniques are provided for photogrammetric 3D model reconstruction that modify the optimization performed in bundle adjustment operations of an automatic SfM stage to apply a depth-aware weighting to reprojection error of each 3D point used in the optimization. The reprojection error of each 3D point may be weighted based on a function of distance, density of a cluster, or a combination of distance and density. A loss function may be scaled to account for the weighting, and normalizations applied. Such weighting may force consideration of 3D points on an object of interest in the foreground and improve convergence of the optimization to global optima. In such manner, accurate and complete 3D models may be reconstructed of even ill-textured or very thin objects in the foreground of a scene with a highly textured background, while not consuming excessive processing and storage resources or requiring tedious workflows.
