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公开(公告)号：US10970861B2
公开(公告)日：2021-04-06
申请号：US16408743
申请日：2019-05-10
Applicant: Axis AB
Inventor： Aras Papadelis , August Bergoo , Daniel Stahl , Simon Jonsson
Abstract: A method (200) of determining a transformation matrix for transformation of ranging data from a first coordinate system for the ranging sensor to a second coordinate system for an image sensor is disclosed. The method comprises providing (201) a ranging sensor and an image sensor; acquiring (202) a ranging frame sequence, and an image frame sequence; determining (203) points of motion in frames of each acquired frame sequence; for each frame in one of the frame sequences: evaluating (204) if a single motion point has been determined in the frame, and if a single motion point has been determined, evaluating (206) if a single motion point has been determined in a temporally corresponding frame of the other frame sequence and, in that case, pairing (207) the temporally corresponding frames, whereby a set of frame pairs is formed, and determining (209) the transformation matrix based on the set of frame pairs.
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