Patent Document ID: 10062005
Application ID: 14660254
Patent Status: 1

Claim One:
1. A method of matching Images A and B of the same scene taken at different locations in the scene, comprising: creating resolution pyramids for source images including Image A and Image B, each said resolution pyramid including a plurality of different resolution levels of the entire source image; selecting a plurality of correspondence points in Image A; projecting each correspondence point from a resolution level to a next higher resolution level for all levels in the resolution pyramid while maintaining the position of the correspondence point at each resolution level; for each correspondence point, at each of a plurality of levels in the resolution pyramid for Image A, creating a constellation of multiple image chips in a pre-defined spatial arrangement around the correspondence point at the resolution level in the resolution pyramid for Image A, each chip comprising a pre-defined spatial configuration of multiple pixels, at least one said chip including the correspondence point, said constellation of multiple image chips maintaining the same pre-defined spatial arrangement around the correspondence point at all resolution levels of the resolution pyramid for Image A; and computing a joint likelihood map (JLM) between the constellation in image A and possible constellations of multiple image chips in the resolution pyramid for Image B as a function of a displacement from the correspondence point in Image A to each of the possible constellations of image chips in Image B from the same or different resolution level of the resolution pyramid for Image A, each likelihood value in the map representing the likelihood that the correspondence point in Image A is located at the position specified by the displacement in Image B; computing an aggregate joint likelihood map by integrating the joint likelihood maps over the plurality of resolution levels; and selecting the constellation displacements from the aggregate joint likelihood maps with the highest likelihood value to identify correspondence points in Image B for the correspondence points in Image A.