Patent Document ID: 9576365
Application ID: 14446281
Patent Status: 1

Claim One:
1. A method of aligning a position of a camera in a multi-camera system photographing multi-images, the method comprising: defining a correspondence relation between a plurality of images photographed in the multi-camera system; estimating respective initial positions of the camera and a three-dimensional point using the correspondence relation between the plurality of images and a Structure From Motion (SFM) algorithm; determining projected two-dimensional points by projecting the three-dimensional point onto first and second images among the plurality of images, respectively, the first and second images including respective original two-dimensional points; determining Euclidean distances between the projected two-dimensional points and the original two-dimensional points of the first and second images, respectively; and when a sum of the Euclidean distances is less than or equal to a reference value, generating an optimal edge using a bundle edge that connects a first vertex corresponding to the first image and a second vertex corresponding to the second image, and correcting the position of the camera based on the optimal edge.