Patent ID: 8401276

Claim:
A computer-implemented method for image processing, comprising: accessing multiple different images of an object taken by one or more cameras; selecting one of the accessed images as a reference image; identifying corresponding features between the reference image and one or more different ones of the accessed images; determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object; determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images; generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image; projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image; re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images; and using the re-projected points to register the second one of the accessed images in three dimensions.