CPC G06T 7/74 (2017.01) [G06T 2207/30244 (2013.01)] | 20 Claims |
1. A method of determining a pose of a camera with respect to a map based on one or more images captured with the camera, wherein the pose is represented as a rotation matrix and a translation matrix, the method comprising:
developing correspondences between a combination of points and/or lines in the one or more images and the map;
transforming the correspondences into a set of three second-order polynomial equations;
solving the set of equations for the rotation matrix; and
computing the translation matrix based on the rotation matrix.
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