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

Claim 5:
6. The method of claim 1, wherein the obtaining the one or more optimized homographies based on the one or more optimized translation components and the initial rotation matrix comprises:
calculating the one or more optimized homographies Hr(t) through an equation of:, H
      r
     
     (
     t
     )
    
    =
    
     
      
       R
       0
      
      ⁢
      
       e
       
        
         [
         
          φ
          0
         
         ]
        
        ⁢
        
         t
         /
         
          t
          f
         
        
       
      
     
     +
     
      
       
        
         b
         r
        
        (
        t
        )
       
       
        d
        f
       
      
      ⁢
      
       α
       f
      
     
    
   
   ;
  
 

where, R0 is a rotation matrix corresponding to the initial image and the desired image, [φ0]=log(R0T)∈SO(3), br(t) is an optimized translation component, dƒ is the depth from the origin of the desired image to a plane, and αƒ is the unitary normal to the plane in the desired image; t∈[0, tƒ], 0 is the starting time corresponding to the initial image, and tƒ is the ending time corresponding to the desired image.