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    • 4. 发明授权
    • Method and apparatus for fixating a camera on a target point using image alignment
    • 使用图像对准将相机固定在目标点上的方法和装置
    • US06396961B1
    • 2002-05-28
    • US09143910
    • 1998-08-31
    • Lambert Ernest WixsonRobert MandelbaumMichael Wade HansenJayakrishnan EledathDeepam Mishra
    • Lambert Ernest WixsonRobert MandelbaumMichael Wade HansenJayakrishnan EledathDeepam Mishra
    • G06K932
    • H04N5/23264G06T7/70G06T7/80H04N5/23248H04N5/23254H04N5/23287
    • A method for fixating a camera, mounted on a motorized mount, on a target point. The method includes receiving a plurality of images representative of a scene; selecting, within the plurality of images, a first display reference image containing the target point at a first coordinate location; estimating, in a current image within the plurality of images, a transformation that maps the current image to the first display reference image; estimating a second coordinate location of the target point in the current image using the transformation; computing an image slip between the target point in the current image and the target point in the first display reference image; converting the image slip into an angular correction for fixating the camera; modifying the angular correction by using closed-loop control with the motorized mount; and warping the current image using the transformation to align the current image with the first display reference image. This warping step provides a stable view of the scene even in the presence of camera movements that cannot be eliminated using mechanical stabilization, and in the presence of motor control lags and oscillations due to measurement and actuator latencies.
    • 一种将安装在电动安装座上的相机固定在目标点上的方法。 该方法包括:接收表示场景的多个图像; 在所述多个图像内选择包含所述目标点在第一坐标位置处的第一显示参考图像; 在所述多个图像中的当前图像中估计将所述当前图像映射到所述第一显示参考图像的变换; 使用变换来估计当前图像中的目标点的第二坐标位置; 计算当前图像中的目标点与第一显示参考图像中的目标点之间的图像滑动; 将图像转换成角度校正以固定相机; 通过使用电动安装座的闭环控制修改角度校正; 并使用变换对当前图像进行翘曲,以使当前图像与第一显示参考图像对准。 这种翘曲步骤即使在存在无法通过机械稳定化以及由于测量和执行器延迟引起的电机控制滞后和振荡的情况下存在不能消除的相机运动的情况下,也能够提供场景的稳定视图。