Patent ID: 8810640

Claim:
A method for generating pose information for motion correcting images, comprising the steps of: obtaining a first plurality of images of a region of interest (ROI) to be imaged acquired using a pair of cameras located at different positions and orientations with respect to the ROI, the first plurality of images associated with a first time and define one or more stereo image pairs of the ROI; defining active regions in each of the first plurality of images, selecting intrinsic features in each of the first plurality of images based on the corresponding ones of the active regions, identifying a portion of the intrinsic features temporally and spatially matching intrinsic features in corresponding ones of a second plurality of images of the ROI associated with a second time prior to the first time, calculating three-dimensional (3D) coordinates for the portion of the intrinsic features based on an optical triangulation using the stereo image pairs, the optical triangulation based at least on image coordinates for each of the pair of cameras, image disparity associated with the stereo image pairs, and a physical configuration of the pair of cameras; and computing a relative pose of the ROI in 3D space for the first plurality of images based on the 3D coordinates for the portion of the intrinsic features.