Patent ID: 8773507

Claim:
A method comprising: at a first time, obtaining a first image with a camera with a first lens assembly attached to an interchangeable lens mount on the camera where the first lens assembly includes a single aperture controllable to open and close in size, and said first image includes information for a two-dimensional image; removing the first lens assembly from the interchangeable lens mount; attaching a different second lens assembly to the interchangeable lens mount; at a second time, obtaining a second image with said camera using the different second lens assembly attached to the camera, where the second lens assembly includes an aperture set that is coded to form at least two separate images which are differentiable from one another, and produces an output which includes information indicative of three-dimensional, defocused information; measuring distances between corresponding defocused points in each of the at least two separate images to determine three-dimensional information about the defocused points; determining a plurality of keypoints in the output; cross-correlating the at least two separate images to determine corresponding keypoints in the at least two separate images; and determining a transformation between the at least two separate images taken at a first time and at least two separate images taken at a second time, the transformation being indicative of a pose of the camera.