Patent ID: 9532031
Filing Date: 2016-12-27
CPC Classification: G06T,H04N

Claim Text:
1. A method comprising the steps of: mounting a laser on a rotation device with both azimuth and elevation degrees of freedom; locating the rotation device at a distance from the locations of two or more cameras; orienting each camera such that an origin of a laser beam from the laser is imaged onto each camera; measuring the distance between each camera origin and the aperture of the laser; projecting the laser beam through a sequence of precisely determined azimuth and elevation orientations; using each camera, collecting a plurality of laser beam images of the laser beam as it is projected through the sequence; and for each laser beam image, selecting an arbitrary point on the laser beam in a laser coordinate system, wherein the origin of the laser coordinate system corresponds with an aperture of the laser; for each camera and each laser beam image, selecting an arbitrary point on the laser beam image; and determining a rotation matrix R and a unit vector along a translation vector T for each camera using an epipolar constraint, wherein the epipolar constraint is determined according to the equation x