Patent ID: 11927438
Assignee: THE BOEING COMPANY
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 11:
12. The method of claim 8, further comprising:
estimating, by the processor, poses of the set of images, wherein estimating the poses of the set of images comprises, for each image, estimating a pose of the image by multiplying, for each calibration fiducial marker visible in the image, an estimated pose of the calibration fiducial marker relative to the one or more cameras by a respective transform associated with a known pose of the calibration fiducial marker relative to an origin of the workpiece; and
solving, by the processor, the pose graph to determine poses of the set of images that satisfy the set of constraints,
wherein formulating the pose graph comprises formulating the pose graph comprising the poses estimated for the set of images.