Thomas M Peurach, Peggy Whalen, Douglas Haanpaa, Mike Whalen, Charles J Jacobus: Pose determination and tracking by matching 3D objects to a 2D sensor. Cybernet Systems Corporation, Gifford Krass Groh Sprinkle Anderson & Citkowski PC, January 9, 2001: US06173066 (393 worldwide citation)

An improved method of pose determination and tracking does away with conventional segmentation while taking advantage of multi-degree-of-freedom numerical fitting or match filtering as opposed to a syntactic segment or feature oriented combinatorial match. The technique may be used to improve image ...