Patent Document ID: 6061468
Application ID: 08901391
Patent Status: 1

Claim One:
1. A computerized method for performing a Euclidean reconstruction of an unknown three-dimensional (3-D) structure from a sequence of two-dimensional (2-D) images of the structure, the 3-D structure undergoing closed loop motion relative to the camera, the method comprising the steps of: generating a closed-loop sequence of 2-D images of the unknown 3-D structure with an uncalibrated camera; forming at least one set of consecutive 2-D images in the closed-loop sequence; selecting feature tracking points captured from the unknown 3-D structure in the at least one set of 2-D images and determining a progression of one or more feature tracking points in the images of the at least one set; estimating the relative orientation between the unknown 3-D structure and the camera with the progression of the feature tracking points; fixing a set of parameters while minimizing an objective function to extract a set of first structure and motion parameters of the unknown 3-D structure; and varying the set of parameters while minimizing the objective function to extract a set of second structure and motion parameters of the unknown 3-D structure until the set of second structure and motion parameters are substantially identical to the set of first structure and motion parameters.