Ford Global Technolgoies, LLC

Spencer Carmichael

Alexandra Carlson

Ramanarayan Vasudevan

Katherine Skinner

Rahul Kumar Agrawal

A computer that includes a processor and a memory, the memory including instructions executable by the processor to generate a current keyframe point cloud based on pairs of stereo images while a stereo camera travels through a scene to determine a similar viewpoint query matrix and an opposing viewpoint query matrix based the current keyframe point cloud. A distance matrix and an opposing view distance matrix can be generated by comparing the similar viewpoint query matrix and the opposing viewpoint query matrix to reference matrices. A relative pose between a stereo camera and a reference can be determined to determine a location in the scene during travel of the stereo camera through the scene by performing sequence matching in the distance matrix and the opposing view distance matrix to determine a minimum sequence.

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Ann Arbor, MI, United States of America

Spencer Carmichael