Patent Document ID: 8860825
Application ID: 13611023
Patent Status: 1

Claim One:
1. A method comprising: determining, by a computing device, in a frame of a video captured by a camera, features with a distinguishable geometric characteristic, wherein the frame includes a plurality of rows of pixels captured sequentially in time; determining, for a pixel representing a feature of the features in the frame, a corresponding pixel representing the feature in a consecutive frame in the video; determining, for a set of rows of pixels including the pixel in the frame, a projective transform based on (i) a first position of the camera at which the set of rows of pixels is captured, and (ii) a second position of the camera at which a corresponding set of rows of pixels including the corresponding pixel in the consecutive frame is captured, wherein the projective transform represents motion of the camera from the first position to the second position; determining, for the set of rows of pixels in the frame, a mixture transform based on a combination of the projective transform and respective projective transforms determined for other sets of rows of pixels including the features in the frame; and estimating, by the computing device, a motion path of the camera based on the mixture transform and respective mixture transforms determined for the other sets of rows of pixels to account for distortion associated with the sequential capturing of the plurality of rows of pixels in the frame.