Patent Document ID: 9959625
Application ID: 14982030
Patent Status: 1

Claim One:
1. A method for camera pose refinement in three dimensional reconstruction of sequential frames of imagery of an image, comprising the steps of: acquiring camera metadata, said metadata comprising camera position metadata and camera orientation metadata; extracting interest points from each said image frame in said sequence; comparing descriptors of said extracted interest points for each two successive image frames; matching said descriptors so as to generate feature tracks; generating a persistency factor for each said feature track as a function of said feature track's length; computing a set of statistics for all said persistency factors when all feature tracks have been generated; computing a triangulation based on said camera metadata and said feature tracks so as to generate estimated initial 3D interest points of said image; weighting residuals generated from back projection error using said persistency factors; computing an error function incorporating said weighted residuals, so as to reduce the effect of outlier noise; and computing a bundle adjustment incorporating said weighted residuals and said camera metadata, so as to optimize said camera pose refinement and said estimated initial 3D interest points.