Accurate 3D Mapping Algorithm for Flexible Antennas

Algorithm 2

Initial 3D mapping using a grid.

 Input: Undistorted image (frame) F.

 Output: 3D pointcloud.

1: Let

2: Let C₀ be a set of all points on corners of the grid.

3: Compute Level₁ (L₁) from F and C₀.

4: Let S ← be all small squares in L₁

5: for each s_i ∈ S do

 (1) let a_i ← be the area of s_i.

 (2) let n_i ← be the normal of s_i.

 (3) let p_i ← be a 3D point associated with s_i w.r.t. a_i, n_i.

 (4) add p_i to P

6: end for

7: Return P