Method and apparatus for digital video latency reduction by real-time warping
First Claim
1. A method for digital video latency reduction of a received digital video frame captured by a remote camera attached to a vehicle, the method comprising:
- receiving the digital video frame captured by the remote camera, wherein the received digital video frame is associated with an original image model representing a field of view from the remote camera at a time the digital video frame is captured;
detecting a change in the vehicle position and attitude;
adjusting the original image model of the received digital video frame based on the detected change in the vehicle position and attitude and a time difference between a time the digital video frame is received and the time the digital video frame is captured, to form an adjusted image model representing an approximation of a future field of view of what could be seen from the remote camera at the time the digital video frame is received, wherein the time the digital video frame is received is later in time than the time the digital video frame is captured due to video latency;
overlaying the adjusted image model onto the original image model of the received digital video frame to capture a warped image; and
re-projecting the warped image according to the adjusted image model to form a re-projected image that approximates a view from the remote camera used to capture the received digital video frame at the time the digital video frame is received, wherein the re-projected image accounts for a digital video latency between the time the digital video frame is captured and the time the digital video frame is received.
1 Assignment
0 Petitions
Accused Products
Abstract
In one aspect, video latency reduction by real-time warping is described. In one aspect, an original geometric image model of a digital video frame is adjusted according to a video frame latency, to form an adjusted geometric image model. A geometric image model may represent a field of view from a remote camera used to capture the digital video frame. The adjusted geometric image model may be overlaid onto the original geometric image model to capture a warped image. In one aspect the warped image is re-projected according to the adjusted geometric image model to form a re-projected image. The re-projected image may then be displayed to approximate a real-time field of view from a camera used to capture the digital video frame. In one aspect, an attitude and runway alignment of an unmanned aerial vehicle may be controlled using a displayed, re-projected image. Other aspects are described and claimed.
-
Citations
20 Claims
-
1. A method for digital video latency reduction of a received digital video frame captured by a remote camera attached to a vehicle, the method comprising:
-
receiving the digital video frame captured by the remote camera, wherein the received digital video frame is associated with an original image model representing a field of view from the remote camera at a time the digital video frame is captured; detecting a change in the vehicle position and attitude; adjusting the original image model of the received digital video frame based on the detected change in the vehicle position and attitude and a time difference between a time the digital video frame is received and the time the digital video frame is captured, to form an adjusted image model representing an approximation of a future field of view of what could be seen from the remote camera at the time the digital video frame is received, wherein the time the digital video frame is received is later in time than the time the digital video frame is captured due to video latency; overlaying the adjusted image model onto the original image model of the received digital video frame to capture a warped image; and re-projecting the warped image according to the adjusted image model to form a re-projected image that approximates a view from the remote camera used to capture the received digital video frame at the time the digital video frame is received, wherein the re-projected image accounts for a digital video latency between the time the digital video frame is captured and the time the digital video frame is received. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A non-transitory computer readable medium having processor-executable software instruction to perform a method digital video latency reduction of a received digital video frame captured by a remote camera attached to a vehicle, comprising:
-
re-mapping the digital video frame to determine an original geometric image model corresponding to a field of view from the remote camera used to capture the digital video frame at a digital video frame capture time; detecting a change in the vehicle position and attitude; modifying the original geometric image model according to an approximate field of view from the remote camera at a digital video frame receive time based on the detected change in the vehicle position and attitude and a time difference between the digital video frame receive time and digital video frame capture time, to form an adjusted geometric image model, wherein the digital video frame receive time is later than the digital video frame capture time due to video latency; overlaying the adjusted geometric image model onto the original geometric image model to capture a warped image; and reducing a field of view of the warped video frame image to eliminate one or more edges of the warped video frame image to form a re-projected image that approximates a view from the remote camera at the digital video frame receive time; and displaying the re-projected image to approximate a real-time field of view from the camera at the video frame receive time, wherein the re-projected image accounts for a digital video latency between the digital video frame capture time and digital video frame receive time. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
15. A system for digital video latency reduction of a received digital video frame captured by a remote camera attached to a vehicle, comprising:
-
a transceiver configured to receive the digital video frame and a camera geometry at a digital video frame capture time for the digital video frame; a memory operable to store the received digital video frame and the camera geometry; a graphics processing unit operable to; determine an original geometric image model corresponding to a field of view from the remote camera used to capture the digital video frame, at the digital video frame capture time, detect a change in the vehicle position and attitude; overlay an adjusted geometric image model onto the original geometric image model to capture a warped image, the adjusted geometric image model being based on the detected change in the vehicle position and attitude and a time difference between a digital video frame receive time and the digital video frame capture time, and corresponding to an approximate field of view from the remote camera at the digital video frame receive time, wherein the time the digital video frame was received is later in time than the time the digital video frame was captured due to video latency, and reduce a field of view of the warped video frame to eliminate one or more edges of the warped image to form a re-projected image; a display operable to display the re-projected image to approximate a field of view from the camera used to capture the video frame according to a location of the camera at the video frame receive time, wherein the re-projected image accounts for a digital video latency between the digital video frame capture time and the digital video frame receive time; and a controller operable to control the vehicle, including the remote camera, according to a re-projected image. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification