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Registration of low contrast images

  • US 9,530,208 B1
  • Filed: 01/14/2016
  • Issued: 12/27/2016
  • Est. Priority Date: 08/04/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method for registering a set of images, comprising:

  • capturing, with a primary imaging element of a device, primary image data at a first time and at a first position of the device;

    capturing, with the primary imaging element, second primary image data at a second time and at a second position of the device, a first field of view of the primary imaging element at the first time at least partially overlapping a second field of view of the primary imaging element at the second time;

    capturing, with the primary imaging element, third primary image data at a third time and at a third position of the device, the first field of view of the primary imaging element at the first time at least partially overlapping a third field of view of the primary imaging element at the third time;

    determining a common feature represented by the first primary image data;

    selecting as registration image data one of the second primary image data, or the third primary image data based at least in part on a first movement between a first relative position of the common feature in the first primary image data and a second relative position of the common feature in the second primary image data; and

    storing registration information enabling the first primary image data and the registration image data to be used to generate a three-dimensional representation of an area around the device.

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