Patent Document ID: 20140022350
Application ID: 13942576
Patent Status: 0

Claim One:
1. A method for determining a change in pose of a moving sensor using a defocusing technique comprising acts of: capturing, at an initial time, an initial plurality of defocused images of an object substantially simultaneously with a sensor, from an initial sensor pose; extracting three-dimensional (3-D) locations of three or more object features from the relative locations of the object features in the initial plurality of defocused images on the sensor; capturing, at a subsequent time, a subsequent plurality of defocused images of the object substantially simultaneously, from a subsequent sensor pose; extracting 3-D locations of three or more object features from the relative locations of the object features in the subsequent plurality of defocused images on the sensor; matching the object features from the initial plurality of defocused images with corresponding object features from the subsequent plurality of defocused images using a technique selected from the group consisting of: a feature matching algorithm; and an error minimization method; and calculating a change in pose of the sensor between the initial and subsequent times using the 3-D locations extracted from the initial and subsequent pluralities of defocused images, whereby the change in pose of the moving sensor is determined.