Patent ID: 8798357
Filing Date: 2014-08-05
Classification: G06K,G06T

Abstract:
1. A computer-implemented process for computing the 3D position and 3D orientation of a video camera used to capture sequential image frames of an environment for which a three dimensional (3D) reconstruction has been pre-computed to identify 3D points in the environment that correspond to two dimensional (2D) points in previously-captured images of the environment, comprising: using a computer to perform the following process actions: constructing an indexed database comprising multiple representative database descriptors for each 3D point in the 3D reconstruction, ones of said database descriptors for each 3D point being computed at different scales and from multiple ones of said previously-captured images of the environment; after the indexed database is constructed, inputting image frames from the video camera as they are captured; for each consecutive image frame input,