Patent ID: 9558557
Date: 2017-01-31
CPC Classifications: G06T

Claim:
1. A method comprising: receiving a first image of a planar object captured by a first mobile platform from the first mobile platform; receiving a second image of the planar object captured by a second mobile platform from the second mobile platform; determining a first pose, comprising a position and an orientation, of the first mobile platform with respect to the planar object using the first and second images; warping the first image of the planar object using the orientation of the first mobile platform with respect to the planar object to produce a reference image of a front view of the planar object; and transmitting the reference image to the first and second platforms, wherein the second platform determines a second pose of the second platform with respect to the planar object based at least in part on the reference image and the second image captured by the second platform, wherein determining the first pose, comprising the position and the orientation, of the first mobile platform with respect to the planar object comprises: extracting features from the first and second images; computing a 2D-2D homography between the first and second images using the features; computing 3D coordinates for the features to define a 3D plane that corresponds to a plane of the planar object; computing a 3D-2D homography between the 3D plane and one of the first and second images using the features and the 3D plane; and using the 3D-2D homography to determine the first pose.