Patent ID: 9530235
Filing Date: 2016-12-27
CPC Classification: G06T

Claim Text:
1. A computer-implemented method of aligning panoramic imagery to aerial imagery, the method comprising: accessing, by one or more computing devices, a panoramic image captured from a perspective at or near ground level, the panoramic image associated with a first pose and first geometric data; detecting, by the one or more computing devices, a facade plane in the panoramic image based at least in part on the first geometric data, the facade plane being detected by identifying one or more vertical planar polygons corresponding to a building facade depicted in the panoramic image; identifying, by the one or more computing devices, an aerial image, based at least in part on a view of the detected facade plane depicted in the aerial image, the aerial image associated with a second pose and second geometric data, wherein the aerial image is identified based at least in part on an occlusion or a foreshortening of the view of the detected facade plane in the aerial image; transforming, by the one or more computing devices, the panoramic image to a warped image by projecting an image plane of the panoramic image to an image plane associated with the aerial image based at least in part on the first geometric data; identifying, by the one or more computing devices, one or more feature matches between the warped image and the aerial image; and aligning, by the one or more computing devices, the panoramic image to the aerial image, based at least in part on the one or more feature matches.