Patent ID: 11948369
Assignee: TRIFO, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 1:
2. The system of claim 1, further implementing actions comprising refining the point cloud of features by:
selecting sets of at least some of image data and pose information of the point cloud of features;
reprojecting 3D points from the point cloud of features onto a 2D image plane using the pose information;
calculating image coordinates for the 3D points as reprojected on the 2D image plane and comparing the image coordinates as calculated for the 3D points as reprojected on the 2D image plane to actual coordinates of corresponding observed points obtained directly from the image data selected to compute a plurality of re-projection errors; and
minimizing a weighted sum of the re-projection errors as computed.