US Patent 10311297 Determination of position from images and associated camera positions

An apparatus includes an interface configured to receive image data and position data. The image data is associated with a plurality of images of a scene including an object. The position data is associated with positions of a camera that captured the plurality of images. The apparatus further includes a processor configured to identify a corresponding camera position for a first image of the plurality of images and to output an indication of a global position of the object based on first image data corresponding to the first image and based on the corresponding camera position.