Patent ID: 7526401

Claim:
A method of determining a relative position and orientation between a base camera and a non-base camera, comprising: using a general-purpose computing device to perform the following: 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; calculating transformation parameters based on the object path by computing transformation parameters of an angle (θ) and an offset (Δx,Δy) that satisfy the equation: ( x 1 y 1 1 ) = [ cos ⁡ ( θ ) - sin ⁡ ( θ ) Δ ⁢ ⁢ x sin ⁡ ( θ ) cos ⁡ ( θ ) Δ ⁢ ⁢ y 0 0 1 ] ⁢ ( x 2 y 2 1 ) , where (x 1 ,y 1 ) is an (x,y) location of the moving object in a ground plane as a function of time as measured by the base camera and (x 2 ,y 2 ) is a corresponding location of the moving object as measured by the non-base camera; 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.