Kaplan, FrédéricHamel, NilsDescombes, Albane BénédicteMudry, Pierre-AndréPapon, Charles2022-02-012022-02-012022-02-012021https://infoscience.epfl.ch/handle/20.500.14299/185094A computer-implemented method is proposed for creating a three-dimensional model of the environment. The method comprises the steps of planning (105) a trajectory for a moving system carrying an omnidirectional camera comprising a first image sensor facing in a first direction for capturing first images, and a second image sensor facing in a second, different direction for capturing second images; advancing (107) the moving system along the trajectory; triggering (111) the omnidirectional camera at given time instants depending on the speed of the moving system along the trajectory to capture first and second images; obtaining (117) spherical images by selectively combining the first and second images; and creating (119) the three-dimensional model from the spherical images.patentEP4165597WO202125549571728790