Methods and systems for image stabilization
First Claim
1. A computer implemented method for image stabilization for an image-capturing device with associated calibration data, the method comprising:
- utilizing camera calibration data of the image-capturing device to map image coordinates of an image plane of an image sensor of the image-capturing device into normalized image coordinates of a three dimensional (3D) coordinate space;
determining motion data including 3D rotation data for the image-capturing device using a motion-estimating device after utilizing camera calibration data of the image-capturing device to map image coordinates of an image plane of an image sensor of the image-capturing device into normalized image coordinates of a 3D coordinate space;
matching motion data to a sequence of frames captured by the image-capturing device to determine motion data for each frame;
constructing a target motion path of the image-capturing device based on the motion data for each frame; and
computing a desired motion correction from a motion path observed in the motion data to the target motion path.
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Accused Products
Abstract
Several methods, devices and systems for stabilizing images and correcting rolling shutter effects are described. In one embodiment, a computer implemented method for image stabilization for an image-capturing device with associated calibration data includes determining motion data for the image-capturing device using a motion-estimating device. The method also includes matching motion data to a sequence of frames captured by the image-capturing device to determine motion data for each frame, constructing a target motion path of the image-capturing device based on the motion data for each frame, and computing a desired motion correction from a motion path observed in the motion data to the target motion path.
65 Citations
22 Claims
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1. A computer implemented method for image stabilization for an image-capturing device with associated calibration data, the method comprising:
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utilizing camera calibration data of the image-capturing device to map image coordinates of an image plane of an image sensor of the image-capturing device into normalized image coordinates of a three dimensional (3D) coordinate space; determining motion data including 3D rotation data for the image-capturing device using a motion-estimating device after utilizing camera calibration data of the image-capturing device to map image coordinates of an image plane of an image sensor of the image-capturing device into normalized image coordinates of a 3D coordinate space; matching motion data to a sequence of frames captured by the image-capturing device to determine motion data for each frame; constructing a target motion path of the image-capturing device based on the motion data for each frame; and computing a desired motion correction from a motion path observed in the motion data to the target motion path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer readable non-transitory medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method, the method comprising:
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utilizing calibration data of an image-capturing device to map image coordinates of an image plane of an image sensor of the system into normalized image coordinates of a three dimensional (3D) coordinate space; determining motion data including 3D rotation data for the system using a motion-estimating device after utilizing calibration data of the image-capturing device to map image coordinates of an image plane of an image sensor of the system into normalized image coordinates of a three dimensional coordinate space; matching motion data to a sequence of frames captured by the system to determine motion data for each frame; and constructing a target motion path of the system based on the motion data for each frame; and computing a desired motion correction from a motion path observed in the motion data to the target motion path. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. An image-capturing device, comprising:
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an image sensor with associated calibration data to sense images; a storage device coupled to the image sensor, the storage device to store captured images; a motion-estimating device to detect motion data including three dimensional (3D) rotation data; and a processing system coupled to the storage device and the motion-estimating device, the processing system is configured to perform an automatic image stabilization mechanism by utilizing calibration data to map image coordinates, which represent two dimensional pixels, into normalized image coordinates of a three dimensional coordinate space, which represent light rays, subsequently determining motion data for the image-capturing device using the motion-estimating device, matching motion data to a sequence of frames captured by the image-capturing device to determine motion data for each frame, and estimating a motion path of the image-capturing device based on the motion data for each frame. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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Specification