Patent Document ID: 10078902
Application ID: 15250665
Patent Status: 1

Claim One:
1. A system for compensating ego-translations in video captured with a moving camera, the system comprising: a video camera, wherein the video camera comprises: one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of: estimating translative ego-motion on a sequence of image frames captured by a moving camera by minimizing a cost function that is based on at least one image frame difference, wherein I and I′ represent consecutive image frames in the sequence of image frames, and wherein h and v represent shift translations, wherein an optimal translation (h, v) to compensate camera ego-motion is determined according to the following: min h , v ⁢ ∑ i ⁢ ⁢ j ⁢  I ′ ⁡ ( i + h , j + v ) - I ⁡ ( i , j )  , where i and j represent coordinates of a position in an image frame; wherein an alternating one directional search is performed to minimize the cost function to find the optimal translations; and applying the optimal translations to the sequence of image frames, resulting in a sequence of image frames with ego-translations.