Patent Document ID: 9058538
Application ID: 14514434
Patent Status: 1

Claim One:
1. A computer-implemented method for determining three dimensional locations of features in images from a plurality of images of an area, comprising; receiving, by one or more computing devices, data associated with a pose of a first camera and a pose of a second camera, wherein positions and poses of the first and second cameras are substantially rigid relative to each other; determining, by the one or more computing devices, a correlation between the pose of the first camera and the pose of the second camera, wherein a strength of the correlation is based at least upon a time difference between respective image captures by the first camera and the second camera; generating, by the one or more computing devices, one or more constraints incorporating the correlation; determining, by the one or more computing devices, a three dimensional location of a feature using a plurality of constraints, the plurality of constraints including the generated one or more constraints; and in response to a request for the three dimensional location of the feature, providing, by the one or more computing devices, bundle adjusted information associated with the three dimensional location of the feature.