Patent ID: 7541565

Claim:
A computer-readable medium having computer-executable instructions for performing a method comprising: determining the transformation of an origin of an imaging device positioned in a vehicle based on received first translation data and first rotation data; implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target; generating a rotation output from the exponentially stabilizing control laws adapted to redirect an optical axis of the imaging device to maintain an image centroid within a selected distance from the origin of the imaging device; generating a zoom output from the exponentially stabilizing control laws adapted to modify a lens system of the imaging device, wherein an apparent distance between the imaged target and the imaging device is maintained; determining a system latency in redirecting the optical axis and modifying the lens system along the optical axis; and determining the transformation of the origin of the imaging device with respect to global coordinates based on second translation data and second rotation data monitored during at least one of the pitch, the yaw, and the roll of the vehicle, the redirecting of the optical axis, the modifying of the lens system, and the system latency, wherein the centroid of the target image is maintained within a selected distance from the origin of the imaging device and the apparent distance between the imaged target and the imaging device is maintained.