System and methods for a trackerless navigation system

A method for creating images of an environment experiencing non-rigid motion, the method including steps comprising:

• (a) controlling at least one camera to acquire imaging data from the environment;
• (b) selecting, from the imaging data, a three-dimensional-two-dimensional (3D-2D) correspondence as a control point for use in a perspective-n-point (PnP) problem to determine a position and orientation of the at least one camera from at least one known correspondence between 3D object points and their 2D image projections in the environment;
• (c) reprojecting at least a selected number of the projections;
• (d) determining a reprojection error for each of the projections;
• (e) applying a histogram voting process to select inliers;
• (f) performing a weight assignment of reprojection errors to distinguish the inliers form outliers;
• iteratively repeating steps (a)-(f), wherein the weight assignment applied to outliers decreases during iterations to reduce an impact of outliers in the real-time display of the environment;
• and
• displaying the images of the environment experiencing the non-rigid motion in real-time.

A method for creating images of an environment experiencing non-rigid motion, the method including steps comprising:

• (a) controlling at least one camera to acquire imaging data from the environment;
• (b) selecting, from the imaging data, a three-dimensional-two-dimensional (3D-2D) correspondence as a control point for use in a perspective-n-point (PnP) problem to determine a position and orientation of the at least one camera from at least one known correspondence between 3D object points and their 2D image projections in the environment;
• (c) reprojecting at least a selected number of the projections;
• (d) determining a reprojection error for each of the projections;
• (e) performing a weight assignment of reprojection errors to distinguish the inliers form outliers;
• iteratively repeating steps (a)-(e), wherein the weight assignment applied to outliers decreases during iterations to reduce an impact of outliers in the real-time display of the environment;
• and
• displaying the images of the environment experiencing the non-rigid motion in real-time.