Patent ID: 7050928
Filing Date: 2006-05-23
Classification: G01C,G01S,G06K,G06T

Abstract:
1. A method of determining a relative position and orientation between a base camera and a non-base camera, comprising: measuring a path of a moving object with the base camera in a base coordinate frame; measuring the object path with the non-base camera in a non-base coordinate frame; determining an (x,y) location of the moving object in a ground plane as a function of time as measured by both the base camera and the non-base camera; designating a point location of the object path as measured by the base camera as (x designating a corresponding point location of the object path as measured by the non-base camera as (x computing the transformation parameters of an angle (θ) and an offset (Δx,Δy) that make the following equation true: and applying the transformation parameters to the object path measured by the non-base camera such that that the object path measured by the non-base camera may be expressed in the base coordinate frame.