Patent Document ID: 20160189381
Application ID: 14924664
Patent Status: 0

Claim One:
1. A method of obtaining surface detail of an object from a video sequence captured by a moving camera over the object, the method comprising: providing a camera model and the video sequence; using a processor, determining pose estimation from the video sequence using the camera model; using a processor, registering images from different frames using the pose estimation; using a processor, performing a feature vector transform on the images to produce N-dimensional feature vector per pixel of the images, the feature vector transform producing for each pixel in an array of pixels, a first vector component corresponding to plural comparisons between a center pixel and pixels at plural directions around the center pixel for a first scale, and second vector component corresponding to plural comparisons between the center pixel and pixels at plural directions around the center pixel for a second scale; using a processor, correlating the feature vector transforms of the images to obtain shift measurements between the images; and using a processor, obtaining surface height detail of the object from the shift measurements.