Patent Document ID: 9892516
Application ID: 14845493
Patent Status: 1

Claim One:
1. A three-dimensional coordinate computing apparatus comprising: a memory; at least one processor, coupled to the memory, configured to cause the following to be performed: selecting a first selected image from multiple captured images, the multiple captured images being captured by a camera, the first selected image including feature points; determining a position of capture of the first selected image based on a position of a marker in the first selected image; determining a position of capture of each of multiple subsequent images based on a position of the marker in each of the multiple subsequent images, the multiple subsequent images being captured by the camera after the first selected image has been captured and the multiple subsequent images each including feature points; determining distances between the position of capture of the first selected image and the position of capture of each of the multiple subsequent images; determining a number of corresponding feature points between the feature points extracted from the first selected image and the feature points extracted from each of the multiple subsequent images; selecting a second selected image from the multiple subsequent images based on the determined distance of the second selected image and when the determined number of corresponding feature points of the second selected image are greater than a predetermined threshold; and outputting three-dimensional coordinates of the corresponding feature points based on two-dimensional coordinates of each corresponding feature point in each of the first selected image and the second selected image; registering the outputted three-dimensional coordinates on a feature point map; displaying superimposed image information based on the feature point map, wherein when selecting one subsequent image among the multiple subsequent images as the second selected image, the processor is further configured to cause the following to be performed: determining a camera-marker distance corresponding to a distance between the position of capture of the one subsequent image and the marker based on the position of the marker in the first selected image and the position of the marker of the one subsequent image, determining a distance threshold based on the camera-marker distance and an initial value of a reference inter-camera distance, and determining whether to select the one subsequent image as the second selected image based on a result of comparison between the distance between positions of capture that is computed for the one subsequent image and the distance threshold.