System and method for real time registration of images
First Claim
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1. A method for real time registration of two video images from two cameras, comprising the steps of:
- measuring an angle rate of change and attitude change of the two cameras;
providing an estimate of relative change between the two cameras based on measured attitude change, wherein the estimate of relative change is utilized in initial image registration process to reduce processing load needed to keep two image frames registered;
providing an estimate of relative change between the two cameras based on measured angle rate of change; and
registering two video images based on the estimated relative change between two cameras based on measured angle rate of change.
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Abstract
A system and method for real time registration of images is disclosed. The system measures the angle rate of change and approximates attitude difference between the two cameras to provide an estimate of the relative rate of change between the two cameras. Approximating attitude difference between the two cameras reduce the time needed for initial image registration. Real time registration of images reduces the processing load and improves tracking.
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Citations
15 Claims
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1. A method for real time registration of two video images from two cameras, comprising the steps of:
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measuring an angle rate of change and attitude change of the two cameras; providing an estimate of relative change between the two cameras based on measured attitude change, wherein the estimate of relative change is utilized in initial image registration process to reduce processing load needed to keep two image frames registered; providing an estimate of relative change between the two cameras based on measured angle rate of change; and registering two video images based on the estimated relative change between two cameras based on measured angle rate of change. - View Dependent Claims (2, 3, 4)
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5. The method of claim wherein the searching is prevented in an image processing method when the field of view of the cameras does not overlap by utilizing the accelerometer and the magnetic sensor.
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6. A method for real time registration of two video images from two cameras, comprising the steps of:
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measuring an angle rate of change and attitude change of the two cameras; providing an estimate of relative change between the two cameras based on measured attitude change, wherein the estimate of relative change is utilized in initial image registration process to reduce processing load needed to keep two image frames registered; providing an estimate of relative change between the two cameras based on measured angle rate of change; and registering two video images based on the estimated relative change between two cameras based on measured angle rate of change, wherein the estimate of relative change between the two cameras based on measured angle rate of change comprises a relative shift in horizontal and vertical pixels and roll angle change between the two video images, and processing load needed to keep two image frames registered is reduced. - View Dependent Claims (7, 8, 9)
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10. A system for real time registration of video images, comprising
at least one accelerometer and at least one magnetic sensor utilized to measure attitude change of the two cameras; -
at least one gyro utilized to measure angle rate of change of the two cameras; at least one processor for providing an estimate of relative change between the two cameras based on measured attitude change, wherein the estimate of relative change is utilized in initial image registration process to reduce processing load needed to keep two image frames registered, providing an estimate of relative change between the two cameras based on measured angle rate of change and registering two video images based on the estimated relative change between two cameras based on measured angle rate of change. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification