Patent ID: 11869236
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A system comprising:
a first aerial vehicle comprising:
a camera; and
an inertial measurement unit comprising at least one gyroscope and at least one accelerometer, at least one magnetometer and at least one position sensor; and

at least one computer system in communication with the first aerial vehicle, wherein the at least one computer system is programmed with one or more sets of instructions that, when executed by the at least one computer system, cause the at least one computer system to perform a method comprising:
receiving a first image from the first aerial vehicle, wherein the first image was captured by the camera at a first time;
identifying a first position and a first orientation of the camera at the first time, wherein the first position and the first orientation are identified based at least in part on data captured by the inertial measurement unit at the first time;
receiving a second image from the first aerial vehicle, wherein the second image was captured by the camera at a second time;
identifying a second position and a second orientation of the camera at the second time, wherein the second position and the second orientation are identified based at least in part on data captured by the inertial measurement unit at the second time;
generating a trajectory having a plurality of positions in three-dimensional space, wherein at least a first position of the trajectory is in a field of view of the camera at the first time and at least a second position of the trajectory is in the field of view of the camera at the second time;
determining a first location within an image plane of the camera at the first time, wherein the first location corresponds to the first position of the trajectory at the first time;
determining a second location within the image plane of the camera at the second time, wherein the second location corresponds to the second position of the trajectory at the second time;
estimating a homography between the image plane of the camera at the first time and the image plane of the camera at the second time based at least in part on the first image and the second image;
adjusting the second location within the image plane of the camera at the second time based at least in part on the homography;
rendering a third image, wherein the third image depicts a second aerial vehicle in the first location of the image plane at the first time;
rendering a fourth image, wherein the fourth image depicts the second aerial vehicle in the adjusted second location of the image plane at the second time;
generating a fifth image, wherein the fifth image is generated by compositing the first image and the third image; and
generating a sixth image, wherein the sixth image is generated by compositing the second image and the fourth image.