Patent ID: 6970591
Filing Date: 2005-11-29
Classification: G06K,G06T

Abstract:
1. A method of processing input data defining (i) the positions of features in a sequence of images of at least one object which represent features on the object, (ii) an estimate of a respective camera projection for each image defining the projection of points on the object into the image, and (iii) 3D feature points comprising estimates of the positions in three-dimensions of features on the object represented by the features in the images, to generate output data defining further estimates of the camera projections, the method comprising processing respective subsets of the images in the sequence, each subset comprising a plurality of images, by: calculating an error for the camera projections of the images in the subset by projecting selected 3D feature points into the images in the subset using the camera projections of the images in the subset and determining the distance between the positions of the projected points and the positions of the corresponding features in the images; and calculating changed positions for at least some of the selected 3D feature points and changed camera projections for the images in the subset by using the positions in the images in the subset of the features which correspond to the selected 3D feature points to determine changed positions for at least some of the selected 3D feature points and changed camera projections for the images in the subset which reduce the calculated error, wherein the respective subsets of images are selected sequentially from the sequence so that each image in the sequence is processed in a subset at least once.