Patent ID: 11865724
Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A non-transitory computer readable storage medium storing one or more programs configured to be executed by the one or more processors, wherein the one or more programs comprise instructions for:
obtaining, through a camera of a mobile machine, a desired image of a referenced target captured at a desired pose of a trajectory and an initial image of the referenced target captured at an initial pose of the trajectory, wherein the trajectory comprises a plurality of poses, and the initial pose is the first of the plurality of poses, and the desired pose is the last of the plurality of poses;
calculating a homography of the desired image and the initial image;
decomposing the homography into an initial translation component and an initial rotation matrix;
obtaining one or more optimized translation components corresponding to one or more constraints for the mobile machine based on the initial translation component;
obtaining one or more optimized homographies based on the one or more optimized translation components and the initial rotation matrix;
obtaining a plurality of objective image features corresponding to the trajectory based on the one or more optimized homographies; and
controlling the mobile machine to move according to the objective image features corresponding to the trajectory.