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

Claim 9:
10. The mobile machine of claim 8, wherein the decomposing the homography into the initial translation component and the initial rotation matrix comprises:
decomposing the homography H(t) into a rotation matrix R(t) and a translation component b(t) through an equation of:, H
    ⁡
    (
    t
    )
   
   =
   
    
     R
     ⁡
     (
     t
     )
    
    +
    
     
      
       b
       ⁡
       (
       t
       )
      
      
       d
       f
      
     
     ⁢
     
      α
      f
     
    
   
  
  ;
 

where, R(t) is a rotation matrix, b(t) is a 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; the initial translation component is b(0), and the initial rotation matrix is R(0).