Patent ID: 9251590
Filing Date: 2016-02-02
CPC Classification: A63F,G06T

Claim Text:
1. A method of real-time camera tracking comprising: receiving, at a processor, a sequence of depth map frames from a moving mobile depth camera each depth map frame comprising a depth value at each image element that depth value being related to a distance from the mobile depth camera to a surface in the environment captured by the mobile depth camera; accessing, by the processor, a 3D model of surfaces in the environment; tracking the position and orientation of the mobile depth camera by computing, at the processor, for each of a plurality of the depth map frames, an updated position and orientation of the mobile depth camera according to an alignment of the image elements of the depth map frame and a surface depicted in the 3D model of the environment, the alignment being based at least in part on at least one of: