Patent Document ID: 20130089235
Application ID: 13645860
Patent Status: 0

Claim One:
1. A method of controlling a mobile apparatus, the method comprising: acquiring a first original image and then a second original image; extracting a plurality of first feature points of the first original image and a plurality of second feature points of the second original image; generating a first blurring image and a second blurring image by blurring the first original image and the second original image, respectively, calculating a similarity between at least two images of the first original image, the second original image, the first blurring image, and the second blurring image; determining a change in scale of the second original image based on the calculated similarity; and controlling at least one of an object recognition and a position recognition by matching a second feature point of the plurality of second feature points to a first feature point of the plurality of first feature points based on the change in scale.