Patent ID: 7050928

Claim:
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 1 ,y 1 ); designating a corresponding point location of the object path as measured by the non-base camera as (x 2 ,y 2 ); computing the transformation parameters of an angle (θ) and an offset (Δx,Δy) that make the following equation true: ( 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 ) ; 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.