Patent Document ID: 9846974
Application ID: 14562394
Patent Flag: 1

Claim One:
1. A method, comprising: generating, using image processing circuitry, matching points of pairs of images of a set of images of a stationary scene; generating, using the image processing circuitry, a relative rotation estimates matrix that includes a plurality of relative rotation estimates, wherein each of the plurality of relative rotation estimates is an estimate of a relative rotation between attitudes of two of a plurality of local reference frames, each local reference frame being associated with one of the images of the set of images of the stationary scene; generating, using the image processing circuitry, values of a first matrix of a cost function that is based on a low-rank and sparse matrix decomposition of the relative rotation estimates matrix, the cost function including the first matrix and a sparse matrix that is nonzero in correspondence of one or more outliers of the plurality of relative rotation estimates; generating, using the image processing circuitry, an absolute rotations matrix that includes a plurality of absolute rotations based at least in part on the values of the first matrix of the cost function, wherein each of the plurality of absolute rotations is a rotation between the attitude of one of the local reference frames and a global reference frame; and generating, using the image processing circuitry, an image scene structure based on the absolute rotations matrix.