Patent Document ID: 8509522
Application ID: 12905861
Patent Status: 1

Claim One:
1. A computer-implemented method for determining two or more camera viewpoint optical centers comprising: (a) obtaining a first image and a second image captured by one or more camera devices; (b) obtaining a first rotation (R 1 ) corresponding to one of the one or more camera devices that captured the first image and a second rotation (R2) corresponding to one of the one or more camera devices that captured the second image; (c) determining one or more pairs of matched points between the first image and the second image; (d) for each pair of matched points between the first image and the second image, defining a linear equation comprising: 
 [( R 1 T m 1 )×( R 2 T m 2 )] T (OC 2 −OC 1 )=0 wherein, OC i comprises an optical center of a camera device i, and m i comprises a 3-vector of pixel coordinates for the matched point in image i; (e) computing a square matrix A transpose A (A T A), wherein: (i) each row of A corresponds to one of the one or more pairs of matched points between the first image and the second image; and (ii) a number of columns of A comprises 3N, wherein N comprises a number of the one or more camera devices; (f) solving the matrix A T A to determine an eigenvector that holds the two or more camera viewpoint optical centers; and (g) outputting image information utilizing the two or more camera viewpoint optical centers.