Appeal No. 1996-4030
Application 08/104,462
Turning to Huttenlocher, we find on page 209 that
Huttenlocher does suggest that there are possible
transformations that were computed by matching each group of
four connected image vertexes to each group of four connected
model vertexes. Turning to Horaud, we find that Horaud
teaches on page 501, first column, that they have derived an
analytic solution or a case of four non-coplanar points,
namely, a biquadratic polynomial in one unknown. Horaud
further teaches that it is important to find a closed form
solution for four non-coplanar points for several reasons.
First, they provide fewer solutions than three points.
Second, the solutions are more stable when the points are not
coplanar, because they do not depend on relative orientation
of the image plane with respect to the scene plane containing
the points. Third, the computation of such solutions is fast
and, therefore, it can be included in a runtime visual
process.
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