Patent Document ID: 9277129
Application ID: 14049118
Patent Status: 1

Claim One:
1. A method for removing unwanted camera motion from a video sequence comprising a plurality of video frames, the method comprising: matching a plurality of feature points between each pair of consecutive video frames in the video sequence; calculating the motion of each matched feature point between the corresponding pair of consecutive video frames; calculating a set of historical metrics for each feature point; for each pair of consecutive video frames, determining a homography defining a dominant motion between the pair of consecutive frames, the homography determined by performing a geometrically biased historically weighted random sample consensus (RANSAC) method on the calculated motion of the matched feature points between the pair of consecutive frames, the geometrically biased historically weighted RANSAC method using a cost function that gives a weight to the calculated motion of each feature point based on the set of historical metrics calculated for the feature point and includes a geometric component that biases a result of the RANSAC method towards a solution that minimizes spatial distortion; and removing the unwanted camera motion from the video sequence using the determined homographies.