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 0:
1. A system for navigating an environment experiencing non-rigid motion, the system comprising:
at least one imaging system including at least one camera configured to acquire imaging data from the environment;
a processor configured to receive the imaging data from the at least one camera and programmed to provide a real-time display of the environment experiencing the non-rigid motion by:
(i) 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;
(ii) reprojecting at least a selected number of the projections;
(iii) determining a reprojection error for each of the projections;
(iv) performing a weight assignment of reprojection errors to distinguish inliers and outliers;
(v) repeating (i) through (iv) multiple times, 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

a display configured to display the real-time display of the environment experiencing the non-rigid motion.