Patent ID: 11890063
Assignee: THE BRIGHAM AND WOMEN'S HOSPITAL
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 13:
14. A method for creating images of an environment experiencing non-rigid motion, the method including steps comprising:
(a) controlling at least one camera to acquire imaging data from the environment;
(b) selecting, from the imaging data, a three-dimensional-two-dimensional (3D-2D) correspondence as a control point for use in a perspective-n-point (PnP) problem to determine a position and orientation of the at least one camera from at least one known correspondence between 3D object points and their 2D image projections in the environment;
(c) reprojecting at least a selected number of the projections;
(d) determining a reprojection error for each of the projections;
(e) performing a weight assignment of reprojection errors to distinguish the inliers form outliers;
iteratively repeating steps (a)-(e), wherein the weight assignment applied to outliers decreases during iterations to reduce an impact of outliers in the real-time display of the environment; and
displaying the images of the environment experiencing the non-rigid motion in real-time.