Patent ID: 9082016
Filing Date: 2015-07-14
Classification: G06K

Abstract:
1. A method of controlling a mobile apparatus, the method comprising: acquiring a first original image and then a second original image; extracting a plurality of first feature points of the first original image and a plurality of second feature points of the second original image; generating a first blurring image and a second blurring image by blurring the first original image and the second original image, respectively, calculating a similarity between at least two images of the first original image, the second original image, the first blurring image, and the second blurring image; determining a change in scale of the second original image based on the calculated similarity; and controlling at least one of an object recognition and a position recognition by matching a second feature point of the plurality of second feature points to a first feature point of the plurality of first feature points based on the change in scale, wherein the calculating the similarity of the at least two images among the first original image, the second original image, the first blurring image, and the second blurring image includes,