Patent ID: 9189853
Filing Date: 2015-11-17
Classification: G06K,G06T

Abstract:
1. A computer implemented method, comprising: receiving, with one or more processors, a plurality of panoramic images, which are uncalibrated and unordered; extracting, with the one or more processors, for each panoramic image, one or more feature points; determining, with the one or more processors, associations among the plurality of panoramic images based on the feature points; grouping, with the one or more processors, the plurality of panoramic images based on the determined associations; selecting, with the one or more processors, a first panoramic image from the plurality of panoramic images based on the associations among the plurality of panoramic images; estimating, with the one or more processors, a relative scale of a group that contains the first panoramic image based on a relative pose of each group of panoramic images; identifying, with the one or more processors, a second panoramic image, wherein the second panoramic image is associated with the first panoramic image; and providing a navigation from the first panoramic image to the second panoramic image.