{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9613420","patent":{"patent_number":"US-9613420","title":"Method for locating a camera and for 3D reconstruction in a partially known environment","assignee":null,"inventors":[],"filing_date":"2012-05-29T00:00:00.000Z","publication_date":"2017-04-04T00:00:00.000Z","cpc_codes":["G06T","G06T","G06T","G06T","G06T","G06T","G06T","G06T","G06T"],"num_claims":10,"abstract":"A method for locating a camera and 3D reconstruction of its static environment, comprising an object of interest, the 3D model of which is known, includes: calculating an initial pose of the camera in the environment and an initial reconstruction; calculating the pose of the camera for each new image by pairing 3D primitives of the environment with 2D primitives of said image and reconstructing 3D primitives of the environment by triangulation; and simultaneously optimizing the poses of the camera and 3D primitives by minimizing a reprojection error over a plurality of images. The 3D model is a geometric description of the object of interest, the reprojection error has only two types of terms, a first type associated with primitives constrained by the 3D model and a second type associated with primitives of the environment other than the object, the optimization associating the primitives with the environment or 3D model."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Method for locating a camera and for 3D reconstruction in a partially known environment","description":"A method for locating a camera and 3D reconstruction of its static environment, comprising an object of interest, the 3D model of which is known, includes: calculating an initial pose of the camera in","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9613420","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9613420","citation_suggestion":"Patentable. \"Method for locating a camera and for 3D reconstruction in a partially known environment\" (US-9613420). https://patentable.app/patents/US-9613420","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9613420","json":"https://patentable.app/api/llm-context/US-9613420","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T13:54:28.422Z"}