Patent ID: 8379929

Claim:
A method of determining an azimuth and an elevation of a point visible in a first image, the azimuth and the elevation of the point determined in a real world coordinate system, the method comprising: positioning an imaging device at a first position; acquiring the first image at the first position, the first image including the point; thereafter performing a first rotation of the imaging device; acquiring a second image at the first position, the second image acquired after performing the first rotation, wherein a portion of the first image overlaps a portion of the second image; determining correspondences between features in overlapping portions of the first image and the second image; determining a first transformation between coordinates of the first image and coordinates of the second image based on the correspondences; determining a second transformation between the coordinates of the second image and the real world coordinate system; and computing the azimuth and the elevation of the point in the real world coordinate system based on the first transformation and the second transformation.