Patent ID: 8260036

Claim:
A method comprising: with at least two cameras mounted on one or more moving platforms at different perspectives, capturing an image of a field of view comprising a target; visually triangulating the field of view based on the images from the at least two cameras using a perspective plane approach, wherein visually triangulating the field of view comprises: determining a tilt angle, a tilt vector, and an elevation angle of each camera based on information from an inertial sensor; for each camera, constructing an imaging plane vector (x c ) equation set as a function of target coordinates of the target observed by the respective camera, and the tilt angle, the tilt vector, and the elevation angle of the camera; for each camera, solving the imaging plane vector (x c ) equation set to extract an observation vector (x 0 ); and mapping the observation vector (x 0 ) of each camera into common coordinates; determining a position of the target relative to a position of the one or more moving platforms based on the mapped observation vectors (x 0 ); and displaying the position of the target with respect to the position of the one or more platforms.