Patent ID: 8432442

Claim:
A method of recognizing a self location of an image acquisition device by acquiring an image of two or more reference objects, the method comprising: setting an actual camera plane, two or more reference object planes, and two or more virtual viewable planes located between the actual camera plane and the reference object planes; projecting the reference objects to a corresponding one of the virtual viewable planes; calculating a distance between a viewing axis and the reference objects and a distance between the viewing axis and images on the actual camera plane, the images corresponding to the reference objects; and sensing the self location of the image acquisition device by using an orientation and a zoom factor of the image acquisition device and coordinates of the reference objects, wherein the zoom factor is a ratio of a length of the reference object planes and a distance between the reference object planes and the virtual viewable planes, and the actual camera plane, the virtual viewable planes, and the reference object planes are perpendicular to the viewing axis.