Patent Document ID: 7925049
Application ID: 11833498
Patent Status: 1

Claim One:
1. A method for obtaining a pose of an object from a sequence of images, comprising the steps of: (a) detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time; (b) matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature correspondences; (c) calculating the three-dimensional coordinates of the at least three two-dimensional feature correspondences to obtain at least three three-dimensional reference feature points; (d) tracking the at least three feature points in one of the left image and right image of a second pair of stereo images at a second point in time different from the first point in time to obtain at least three two-dimensional reference feature points; and (e) calculating a pose based on the at least three three-dimensional reference feature points and its corresponding two-dimensional reference feature points in the stereo images.