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

Claim 0:
1. A method for controlling a mobile machine having a camera to move according to a trajectory, wherein the trajectory comprises a plurality of poses, and the method comprises:
obtaining, through the camera of the mobile machine, a desired image of a referenced target captured at a desired pose of the trajectory and an initial image of the referenced target captured at an initial pose of the trajectory, wherein 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.