The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 10, 2013
Filed:
Aug. 17, 2010
Vitaliy M. Kaganovich, Los Angeles, CA (US);
Vitaliy M. Kaganovich, Los Angeles, CA (US);
Raytheon Company, Waltham, MA (US);
Abstract
In one or more aspects of the present disclosure, a method, a computer program product and a system for reconstructing scene features of an object in 3D space using structure-from-motion feature-tracking includes acquiring a first camera frame at a first camera position; extracting image features from the first camera frame; initializing a first set of 3D points from the extracted image features; acquiring a second camera frame at a second camera position; predicting a second set of 3D points by converting their positions and variances to the second camera position; projecting the predicted 3D positions to an image plane of the second camera to obtain 2D predictions of the image features; measuring an innovation of the predicted 2D image features; and updating estimates of 3D points based on the measured innovation to reconstruct scene features of the object image in 3D space.