Patent ID: 8754805

Claim:
An image-based method for tracking the location of a platform containing at least one image capturing device and at least one range measuring device comprising: capturing a first image with said at least one image capturing device; wherein said first image includes at least one object and at least one surface; obtaining a first set of depth data of said at least one surface in said first image using said at least one range measuring device; thereafter moving said platform and capturing a second image with said at least one image capturing device; wherein said second image includes said at least one object and said at least one surface; obtaining a second set of depth data of said at least one surface in said second image using said at least one range measuring device; processing said plurality of images of said at least one object and said at least one surface using a combined feature based process and surface tracking process, wherein said feature based process is different from said surface tracking process and includes matching optical properties of pixels, and said surface tracking process includes matching said first set of depth data and said second set of depth data; and determining the location of said platform from the combined feature based process and surface tracking process.