The main invention in this portfolio employs state-of-the-art computer graphics to advance the field of computer vision. Its main attribute is to allow an autonomous robot to determine its own location by using a pre-determined world model. The invention uses model-generated graphics in image processing: match image frames rendered by a graphics engine to those from a camera, in real-time, frame by frame, pixel by pixel. An a priori model of the world is required, but the benefit is very accurate position and pose of the camera for every frame.

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