Patent Document ID: 20100220173
Application ID: 12708302
Patent Status: 0

Claim One:
1. A method for estimating orientation of a camera mounted on a vehicle, comprising: determining, by at least one processor, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle, the global positioning system data, inertial measurement unit data, and wheel odometry data, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world; obtaining images from one or more runs of image data captured by the camera, the images each having an orientation; processing image data from the images to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and determining from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images captured by the camera.