Patent Document ID: 9530208
Application ID: 14996125
Patent Status: 1

Claim One:
1. A computer-implemented method for registering a set of images, comprising: capturing, with a primary imaging element of a device, primary image data at a first time and at a first position of the device; capturing, with the primary imaging element, second primary image data at a second time and at a second position of the device, a first field of view of the primary imaging element at the first time at least partially overlapping a second field of view of the primary imaging element at the second time; capturing, with the primary imaging element, third primary image data at a third time and at a third position of the device, the first field of view of the primary imaging element at the first time at least partially overlapping a third field of view of the primary imaging element at the third time; determining a common feature represented by the first primary image data; selecting as registration image data one of the second primary image data, or the third primary image data based at least in part on a first movement between a first relative position of the common feature in the first primary image data and a second relative position of the common feature in the second primary image data; and storing registration information enabling the first primary image data and the registration image data to be used to generate a three-dimensional representation of an area around the device.