Patent Document ID: 9361694
Application ID: 14459330
Patent Status: 1

Claim One:
1. A method for determining rotation invariant feature descriptors for points of interest in digital images for image matching, comprising: obtaining at least two digital images captured at different orientations and/or view angles with a same camera center; identifying a point of interest in each of the at least two digital images; transforming the at least two digital images to change location of the point of interest in each of the at least two digital images to a principal point, comprising: determining pan and tilt angles to be applied for the point of interest in each of the at least two digital images to change the location of the point of interest to the principal point and transforming the at least two digital images using the associated pan and tilt angles, using an equation: [ 0 0 1 ] = K * R p * R t * K - 1 ⁡ [ x y 1 ] , or ⁢ [ 0 0 1 ] = K * R t * R p * K - 1 ⁡ [ x y 1 ] , wherein, (x, y, 1) are co-ordinates of the point of interest with respect to an image plane, (0, 0, 1) are co-ordinates of the principal point with respect to a hypothetical image plane, K is a camera intrinsic matrix, R p , is a rotation matrix for pan and R t is a rotation matrix for tilt; and determining a rotation invariant feature descriptor for the point of interest in each of the at least two transformed digital images for image matching.