Patent Document ID: 9251438
Application ID: 14062536
Patent Flag: 1

Claim One:
1. A method comprising: receiving, with an image processing device, multidimensional image data that captures a set of one or more features visible within a physical environment, wherein the image data comprising a set of data points conforming to a plurality of dimensions (D) and including outlier data points; and removing one or more objects from the image data by iteratively processing the set of data points with the image processing device to compute a reduced data set representative of the set of data points of the image data, wherein the reduced data set conforms to a subspace having a reduced number of dimensions (d) less than the plurality of dimensions (D) of the set of data points of the image, wherein iteratively processing the set of data points of the image data to compute the reduced data set comprises: determining, for each iteration, a scaled version of the set of data points by re-computing a corresponding coefficient for each of the data points as a function of a proximity of the data point to a current estimate of the subspace, and computing, for each iteration, an updated estimate of the subspace based on a minimization of a sum of least squares of the scaled version of the set of data points; and processing, with the image processing device, the reduced data set representative of the image data to identify one or more features within the physical environment.