Patent Document ID: 8457357
Application ID: 13292299
Patent Status: 1

Claim One:
1. A method for determining a relative pose between two cameras, comprising the steps of: receiving first image data representing a first field of view of a first video camera; receiving second image data representing a second field of view of a second video camera, at least a portion of the first field of view adjacent to at least a portion of the second field of view; determining trajectory information representing each of at least four subjects moving between the first field of view and the second field of view along a mathematically characterizable trajectory; determining, for each subject represented by the trajectory information, a plurality of head position points in the first image data and a plurality of head position points in the second image data, each plurality of head position points corresponding to successive positions of a head region of a subject at a corresponding plurality of timepoints spanning a time period; determining, for each subject represented by the trajectory information, a plurality of foot position points in the first image data and a plurality of foot position points in the second image data, each plurality of foot position points corresponding to the plurality of head position points and corresponding to successive positions of a foot region of the subject at a corresponding plurality of timepoints spanning a time period; determining at least eight lines in the first image data comprising at least four head lines and at least four foot lines by fitting each plurality of head position points in the first image data to one of the head lines and fitting each plurality of foot position points to one of the foot lines; determining at least eight lines in the second image data comprising at least four head lines and at least four foot lines by fitting each plurality of head position points in the second image data to one of the head lines and fitting each plurality of foot position points to one of the foot lines, each head line in the second image data corresponding to one head line in the first image data, each foot line in the second image data corresponding to one foot line in the first image data; computing a first planar homography and a second planar homography, each planar homography representing a relationship between each line in the first image data and a corresponding line in the second image data; and computing the relative pose between the first video camera and the second video camera in response to the first planar homography and second planar homography.