Patent Document ID: 9091553
Application ID: 12644559
Patent Status: 1

Claim One:
1. A non-transitory computer readable media device having computer-executable instructions for a method for matching image features, the method comprising: defining a first descriptive subset of features, including at least one minimal subset, from a feature set A extracted by at least one processor from a first image projection; selecting at least two second descriptive subsets from a feature set B extracted by the at least one processor from a second image projection, the at least two second descriptive subsets correlated to at least two minimal subsets, which meet a congruency criteria with the first descriptive subset of features from the feature set A, wherein the at least two second descriptive subsets are selected based on a similarity of invariant mutual relations between features of one of the at least one minimal subset in the first descriptive subset and invariant mutual relations between features of the at least two minimal subsets in the at least two second descriptive subsets, wherein the first descriptive subset and the at least two second descriptive subsets define at least two pairs of similar descriptive subsets; calculating at the at least one processor a transformation T from at least one of the at least two pairs of similar descriptive subsets to form a hypothesis H; evaluating at the at least one processor a quality of the hypothesis H; storing the hypothesis H into a memory device, the hypothesis H including transformation T and a plurality of paired features that support the hypothesis H; and selecting a final hypothesis H B having a highest quality as determined by a quality metric, the method further comprising at least one of: determining coordinates for a new position by applying the transformation T belonging to the selected final hypothesis H B to coordinates in a navigation frame; and generating a map in the memory device for navigating a vehicle, the map based on matching features from the first image projection with the second image projection.