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

Claim 19:
20. The non-transitory computer readable medium of claim 14, the operations further comprising:
estimating the plurality of camera poses, wherein estimating the plurality of camera poses comprises, for each image, estimating a camera pose from which the one or more cameras acquired 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 the pose graph to determine the plurality of camera poses that satisfy the set of constraints,
wherein formulating the pose graph comprises formulating the pose graph comprising the plurality of camera poses that were estimated.