Patent ID: 7333133
Filing Date: 2008-02-19
Classification: G06T

Abstract:
1. A method for estimating camera motion parameters, the method comprising: obtaining an observation point set including a plurality of observed point vectors; computing a plurality of motion output vectors by performing a recursive least squares (RLS) process based on a plurality of motion parameter vectors; and, comparing the plurality of motion output vectors to the plurality of observed point vectors; wherein the computing a plurality of motion output vectors and the comparing the plurality of motion output vectors to the plurality of observed point vectors comprise: initializing a first covariance matrix to a positive value; setting a first motion parameter estimate vector to an initial value; determining each of the plurality of motion parameter vectors, the determining comprising: computing a current covariance matrix; computing a current motion parameter estimate vector based on the current covariance matrix; computing a current motion output vector and a current state variable matrix based on the current covariance matrix; and, comparing the current motion output vector to the observation point set; and, repeating the determining a predetermined number of times; wherein: the computing a current covariance matrix comprises computing P the computing a current motion parameter estimate vector comprises computing {circumflex over (θ)} t ={circumflex over (θ)} t−1 +[P t−1 φ t [I+φ 1 ′P t−1 φ t ] −1 ][y t −φ t {circumflex over (θ)} t−1 ], {circumflex over (θ)} t being the current motion parameter estimate, {circumflex over (θ)} t−1 being the prior current motion parameter estimate, and y, being the current motion output vector.