Patent ID: 8896665

Claim:
A method of calibrating a camera, the method comprising: setting a feature track by tracking and matching features in an input image sequence, wherein the tracking and matching of the features comprises; detecting a feature point of a first frame of the input image sequence; predicting a feature point position in a next frame corresponding to the detected feature point of the first frame, wherein the predicting of the feature point position is performed hierarchically by generating images of a plurality of resolution levels and predicting the feature of the next frame by beginning from a lower resolution level and increasing sequentially to higher resolution levels; and matching feature points in the next frame based on the predicting of the feature point positions in the next frame; estimating 3-dimensional (3D) points in relation to the matched feature points by initializing a structure and motion of the camera; estimating a pose of the camera using the 3D points and refining the structure of the camera based on the estimated pose; and refining the pose of the camera.