{
  "$type": "site.standard.document",
  "description": "Triangulation is applied, by a method and a device, to determine a scene point location in a global coordinate system, GCS, based on location coordinates for observed image points in plural views of a scene, and global-local transformation matrices for the views. The local coordinates are given in…",
  "path": "/patents/1298526",
  "publishedAt": "2021-08-26T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T7/75",
    "SONY CORPORATION"
  ],
  "textContent": "Triangulation is applied, by a method and a device, to determine a scene point location in a global coordinate system, GCS, based on location coordinates for observed image points in plural views of a scene, and global-local transformation matrices for the views. The local coordinates are given in local coordinate systems, LCSs, arranged to define distance coordinate axes that are perpendicular to image planes of the views. The scene point location is determined by minimizing a plurality of differences between first and second estimates of the scene point location in the LCSs, the first estimates being given by linear scaling of the location coordinates, and the second estimate being given by operating the transformation matrices on the scene point location. An improved robustness to observation errors is achieved by defining the plurality of differences to penalize differences that includes the linear scaling as applied along the distance coordinate axes.",
  "title": "MULTIPLE VIEW TRIANGULATION WITH IMPROVED ROBUSTNESS TO OBSERVATION ERRORS"
}