Patent Document ID: 20140085462
Application ID: 13626978
Patent Status: 0

Claim One:
1. A method for locating features in a field of view of an imaging sensor, comprising: receiving a first image frame for a field of view of an imaging sensor at a first time; receiving a three-dimensional position measurement, in an absolute coordinate system, for the imaging sensor at the first time; identifying one or more features in the first image frame; receiving a second image frame for the field of view of the imaging sensor at a second time; receiving a three-dimensional position measurement, in an absolute coordinate system, for the imaging sensor at the second time; identifying one or more features in the second image frame; determining position and velocity of the one or more features in the second image frame based on changes to the one or more features in the image frames between the first and second time; and determining three-dimensional positions of one or more of the features in the first and second image frames based on the received three-dimensional position measurements for the imaging sensor for the first and second time and position and velocity of the one or more features in the first and second image frames.