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Bundle adjustment based on image capture intervals

  • US 9,058,538 B1
  • Filed: 10/15/2014
  • Issued: 06/16/2015
  • Est. Priority Date: 05/18/2012
  • Status: Active Grant
First Claim
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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.

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