Patent Document ID: 8280107
Application ID: 12311470
Patent Status: 1

Claim One:
1. Method of identifying a planar object in source images comprising: retrieving a first source color image obtained by a first terrestrial based camera; retrieving a second source color image obtained by a second terrestrial based camera; retrieving position data associated with the retrieved first and second source images; retrieving orientation data associated with the retrieved first and second source images; performing a combined looking axis rotation transformation and radial logarithmic space transformation on at least a part of the retrieved first and second source images by use of the retrieved associated position data and orientation data to obtain first and second radial logarithmic data images wherein the looking axis rotation transformation corresponds to transforming the retrieved first and second source images into first and second intermediate images representing images having an identical looking axis; performing a pattern matching algorithm to detect an area having similar dimensions in the obtained first and second radial logarithmic data images, wherein the performing of the pattern matching algorithm comprises: scanning the second radial logarithmic data image with the area of a potential object from the first radial logarithmic data image to determine the rgb difference between the potential object from the first radial logarithmic data image at a plurality of horizontal displacements in the second radial logarithmic data image; and determining the horizontal displacement with the minimal rgb difference; and identifying the detected area as a planar object and computing the position of the planar object based on the determined horizontal displacement and the retrieved associated position data and orientation data.