Infrastructure independent position determining system

摘要

A computer-assisted method for determining a position and orientation a sensor relative to a scene. The sensor has a plurality of degrees of freedom in position and orientation relative to the scene. The method includes sensing an image of the scene, the sensed image having a plurality of regions such that a sum of degrees of independent constraint of the plurality of regions equals or exceeds the degrees of freedom in position and orientation of the sensor relative to the scene, comparing the plurality of regions of the sensed image to a plurality of regions of a first image of the scene stored in a map, the first stored image representative of a position and orientation of the sensor relative to the scene, and determining sensor position and orientation based on the comparing.