Patent ID: 8787700

Claim:
A computer implemented method, comprising: receiving, with one or more processors, a plurality of panoramic images, which are uncalibrated and unordered, wherein at least one of the panoramic images includes an interior building image; extracting, with the one or more processors, for each panoramic image, one or more feature points; generating, with the one or more processors, a match matrix for all the panoramic images based on the one or more feature points; constructing, with the one or more processors, a minimal spanning tree based on the match matrix; identifying, with the one or more processors, from the minimal spanning tree, one or more image triplets, wherein each image triplet comprises a panoramic image associated with both a parent panoramic image and a child panoramic image; identifying, with the one or more processors, a first panoramic image, based on the minimal spanning tree; and identifying, with the one or more processors, a second panoramic image, based on the minimal spanning tree, wherein the second panoramic image is associated with the first panoramic image providing a navigation from the first panoramic image to the second panoramic image.