Abstract  Description  Claims  Drawing  Search report  Cited references 

JP2008304268A   [0058]  [0082] 
JP2011030006A   [0159] 

In Situ Image-based Modeling   [0004] 
Pose Tracking from Natural Features on Mobile Phones   [0004] 
Real-Time Simultaneous Localization and Mapping with a Single Camera   [0059]