Patent US 8,107,722

A system for performing a three dimensional stereo measurement that uses a sensor for obtaining a sensor image of a scene, and a database for providing first and second reference images of the scene that are a stereo pair of images. At least one processing system is responsive to an output of the sensor and in communication with the database. The processing system registers the sensor image with the first reference image, and also selects a point of interest from one of the sensor image and the first reference image. The processing system performs a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image.