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

Claim 5:
6. A method comprising:
capturing, by a camera provided aboard a first aerial vehicle, a first image at a first time;
determining, based at least in part on first data captured by an inertial measurement unit provided aboard the first aerial vehicle, a first position of the camera at the first time and a first orientation of the camera at the first time;
capturing, by the camera, a second image at a second time;
determining, based at least in part on second data captured by the inertial measurement unit, a second position of the camera at the second time and a second orientation of the camera at the second time;
generating a trajectory of a synthetic object, wherein the trajectory comprises a first position of the synthetic object at the first time and a second position of the synthetic object at the second time, wherein the first position of the synthetic object at the first time is within a field of view of the camera at the first time, and wherein the second position of the synthetic object at the second time is within the field of view of the camera at the second time;
estimating a homography between the first image and the second image;
selecting a first location of the synthetic object within the first image based at least on the trajectory;
selecting a second location of the synthetic object within the second image based at least in part on the trajectory and the homography;
generating a first composite image based at least in part on the first image and the first location of the synthetic object within the first image, wherein the first composite image comprises a first rendered image of the synthetic object at the first time located in the first location of the synthetic object within the first image;
generating a second composite image based at least in part on the second image and the second location of the synthetic object within the second image, wherein the second composite image comprises a second rendered image of the synthetic object at the second time in the second location of the synthetic object within the second image; and
storing the first composite image and the second composite image in association with the first location and the second location in at least one data store.