Patent ID: 8467612

Claim:
A method for navigating, the method comprising: identifying line features in a first three-dimensional (3-D) image and a second 3-D image as a navigation platform traverses an area; comparing the line features in the first 3-D image that correspond to the line features in the second 3-D image, wherein comparing the line features comprises: determining an interline angle measurement between at least two intersecting line segments, the at least two intersecting line segments selected from the first 3-D image based on a projection of a first line segment of the at least two intersecting line segments on a plane passing through a second line segment of the at least two intersecting line segments and parallel to the first line segment; or determining an interline distance measurement between at least two non-intersecting line segments, the at least two non-intersecting line segments selected from the first 3-D image according to a Euclidean metric; and when the line features compared in the first and the second 3-D images are within a prescribed tolerance threshold, using a conditional set of geometrical criteria to determine whether the line features in the first 3-D image match the corresponding line features in the second 3-D image.