Patent Document ID: 20120045091
Application ID: 12858218
Patent Status: 0

Claim One:
1. A method for reconstructing scene features of an object in three-dimensional space, the method comprising: acquiring, using a camera, a first camera frame at a first camera position; extracting image features from the first camera frame; initializing a first set of 3D points from the extracted image features; acquiring a second camera frame at a second camera position; predicting a second set of 3D points having corresponding 3D positions by converting the corresponding 3D positions and variances of the 3D points to the second camera position; projecting the predicted 3D positions to an image plane of the second camera position to obtain two-dimensional (2D) predictions of the image features; measuring an innovation of the 2D predictions; and updating estimates of 3D points based on the measured innovation to reconstruct the scene features of the object in the 3D space.