Patent ID: 8781167

Claim:
A computer-implemented method for determining a location in a target image (T) of a site on a surface of a physical object, the method comprising: providing two or more reference images (I 1 , I 2 ) of said physical object that have been obtained with a reference imaging device, wherein each of said two or more reference images includes said site on the surface of the physical object and was obtained with the reference imaging device having a different position and/or orientation relative to said physical object; receiving said target image obtained by a target imaging device, said target image including the site on the surface of the physical object; for each reference image: using a set of feature mappings from the reference image to the target image to determine the epipolar geometry between the reference image and the target image, and calculating from said epipolar geometry a projection of the site from the reference image onto the target image; and determining from the calculated epipolar projections for the two or more reference images the location in the target image of the site on the surface of the physical object.