Patent Document ID: 9349195
Application ID: 13783878
Patent Status: 1

Claim One:
1. A method of spatially referencing a plurality of images captured from a plurality of different locations within an indoor space by determining the locations from which the plurality of images were captured, comprising: obtaining, by one or more processors, a plurality of distance-referenced panoramas of an indoor space captured from a plurality of different locations in the indoor space, the distance-referenced panoramas each comprising: a plurality of distance-referenced images each captured from one location among the plurality of different locations in the indoor space and at a different azimuth from the other distance-referenced images captured from the one location; a plurality of distance measurements, each distance measurement being indicative of a distance between the one location and a feature depicted in a corresponding one of the distance-referenced images; a plurality of orientation indicators each indicative of the azimuth of the corresponding one of the distance-referenced images; wherein each of the plurality of distance measurements is associated with the corresponding one of the distance-referenced images and one of the plurality of orientation indicators; determining, by the one or more processors, the location of each of the distance-referenced panoramas based on the plurality of distance measurements and the plurality of orientation indicators by: determining, by the one or more processors, whether the indoor space is rectangular based on the plurality of distance measurements and the plurality of orientation indicators by comparing cross-space dimensions measured from at least two locations amongst the plurality of different locations in the indoor space, wherein each of the cross-space dimensions comprises the sum of opposing distance measurements taken at one of the plurality of different locations; and upon determining that the indoor space is rectangular, determining, by the one or more processors, the location of each of the distance-referenced panoramas by calculating coordinates relative to an origin; and associating in memory, by the one or more processors, the determined locations with the plurality of distance-referenced images captured from the determined locations.