Patent ID: 9324151
Filing Date: 2016-04-26
CPC Classification: G06F,G06K,G06T

Claim Text:
1. A method for determining the location or the orientation of a digital photograph, comprising the steps of: constructing a database of database images, points and feature descriptors; receiving an input query image; extracting features from the input query image to obtain image features; matching image features to the database, wherein a match is a point in the input query image and a point in the database; selecting one or more of a first subset of matches according to a randomized selection process, wherein each first subset of matches includes matches that co-occur more frequently in the database; calculating one or more preliminary camera poses; obtaining a second subset of matches; determining the number of matches of the second subset of matches that agree with each of the one or more preliminary camera poses to obtain a number of agreeing matches for each of the one or more preliminary camera poses; providing a best camera pose from the one or more preliminary camera poses, wherein the best camera pose is the preliminary camera pose with the largest number of agreeing matches; deciding if the best camera pose exceeds a threshold of the number of agreeing matches; and returning a final camera pose when the best camera pose exceeds the threshold of the number of agreeing matches.