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

Claim 15:
16. A method comprising:
capturing, by a camera provided aboard an aerial vehicle, a sequence of images at a plurality of times;
identifying data captured by an inertial measurement unit provided aboard the aerial vehicle at the plurality of times;
determining, based at least in part on the data, positions and orientations of the camera at each of the plurality of times;
identifying a trajectory of a synthetic object, wherein the trajectory comprises a plurality of points in three-dimensional space over at least some of the plurality of times;
determining, for each of the plurality of points, a location corresponding to the point within an image plane of the camera at one of the times, wherein determining the location corresponding to the point comprises projecting the point into the image plane of the camera at the one of the plurality of times;
estimating a homography for each pair of consecutive images of the sequence, wherein each of the homographies is a relation between at least one pixel of the image plane of the camera at the one of the times and the at least one pixel of the image plane of the camera at a preceding one of the images of the sequence;
adjusting each of the locations corresponding to the point within the image plane of the camera at the one of the plurality of times based at least in part on a corresponding one of the homographies;
generating, for each of the images of the sequence, a rendered image of the synthetic object based at least in part on the trajectory;
compositing, for each of the images of the sequence, the rendered image of the synthetic object into the one of the images of the sequence for which the rendered image was generated at the adjusted location; and
storing the composited images in association with the adjusted locations in at least one data store.