Patent Document ID: 20120120199
Application ID: 13380421
Patent Status: 0

Claim One:
1. A method for determining the pose of a camera with respect to at least one real object, the method comprising the steps of: operating the camera for capturing a 2-dimensional image including at least a part of the real object; providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object and corresponding 2-dimensional points (p i ) of the real object as included in the 2-dimensional image; determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix; determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object; in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process; and determining the pose of the camera with respect to the real object using the transformation matrix (T) determined at the end of the iterative minimization process.