Patent ID: 11968449
Assignee: ARASHI VISION INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 2:
3. The method according to claim 2, wherein the calculating the third rotation matrix of the camera by limiting the smoothing maximum amplitude value specifically comprises:
limiting the smoothing maximum amplitude value to be δΘ;
calculating a smoothing amplitude value of the second rotation matrix to the first rotation matrix, wherein a calculation formula is: v=Log({tilde over (q)}tk⊕qt*), where * represents conjugation;
when |v|≤δΘ, letting the third rotation matrix {acute over (q)}t equal to the second rotation matrix {tilde over (q)}tk, and when |v|>δΘ, letting the third rotation matrix as follows:, {tilde over (q)}t=Exp(δΘ·v/|v|)⊕qt, where ⊗ represents vector rotation of a quaternion space, Log is a quaternion log operator, and Exp is a quaternion exponential operator.