Patent Document ID: 9691158
Application ID: 14076053
Patent Status: 1

Claim One:
1. A computing device comprising: a camera; one or more processors; a memory device including instructions that, when executed by the one or more processors, cause the computing device to: acquire a first image and a second image by the camera; identify a first point in the first image; determine a first patch in the first image using a feature detector, the first patch including the first point and being associated with a first feature descriptor; identify a set of candidate points in the second image; determine a set of patches in the second image using the feature detector, each patch of the set of patches including a respective candidate point from the set of candidate points, each patch of the set of patches being associated with a respective feature descriptor; determine a candidate point from the set of candidate points that corresponds to the first point in the first image, the determined candidate point being determined based at least in part on a second feature descriptor associated with a second patch of the candidate point matching the first feature descriptor associated with the first point above a predetermined matching threshold; determine that the candidate point and the first point satisfy at least one geometric constraint; and generate a confirmation indicating at least that the candidate point and the first point satisfy at least one geometric constraint.