Patent Document ID: 9842264
Application ID: 15226406
Patent Status: 1

Claim One:
1. A method of aligning multiple images of a scene: receiving a reference image and an image-to-be-aligned, wherein said reference image is a frame of a first video imager at a first time point, said image-to-be-aligned is a frame of a second video imager at said first time point, and said finely-aligned image is a first aligned video frame; transforming said reference image into a transformed reference image comprising radiance factor grayscale pixel data; transforming said image-to-be-aligned into a transformed image-to-be-aligned comprising radiance factor grayscale pixel data; aligning said transformed reference image and said transformed image-to-be-aligned, comprising: applying random sample consensus to said transformed reference image and said transformed image-to-be-aligned to estimate a geometric transformation to derive a coarsely-aligned image from said transformed image-to-be-aligned; and applying diffeomorphic registration to derive a finely-aligned image from said coarsely-aligned image; receiving said first aligned video frame and a second aligned video frame corresponding to a second time point; transforming said first aligned video frame into a transformed first aligned video frame comprising radiance factor grayscale pixel data; transforming said second aligned video frame into a transformed second aligned video frame comprising radiance factor grayscale pixel data; and aligning said transformed first aligned video frame and said transformed second aligned video frame, comprising: applying random sample consensus to said transformed first aligned video frame and said transformed second aligned video frame to estimate a geometric transformation to derive a second coarsely-aligned image from said transformed second aligned video frame; and applying diffeomorphic registration to derive a mosaicked image from said second coarsely-aligned image.