Method and apparatus for digital video latency reduction by real-time warping

摘要

In one aspect, video latency reduction by real-time warping is described. In one aspect, an original geometric image model of a digital video frame is adjusted according to a video frame latency, to form an adjusted geometric image model. A geometric image model may represent a field of view from a remote camera used to capture the digital video frame. The adjusted geometric image model may be overlaid onto the original geometric image model to capture a warped image. In one aspect the warped image is re-projected according to the adjusted geometric image model to form a re-projected image. The re-projected image may then be displayed to approximate a real-time field of view from a camera used to capture the digital video frame. In one aspect, an attitude and runway alignment of an unmanned aerial vehicle may be controlled using a displayed, re-projected image. Other aspects are described and claimed.

主权项

1. A method for digital video latency reduction of a received digital video frame captured by a remote camera attached to a vehicle, the method comprising:
receiving the digital video frame captured by the remote camera, wherein the received digital video frame is associated with an original image model representing a field of view from the remote camera at a time the digital video frame is captured; detecting a change in the vehicle position and attitude; adjusting the original image model of the received digital video frame based on the detected change in the vehicle position and attitude and a time difference between a time the digital video frame is received and the time the digital video frame is captured, to form an adjusted image model representing an approximation of a future field of view of what could be seen from the remote camera at the time the digital video frame is received, wherein the time the digital video frame is received is later in time than the time the digital video frame is captured due to video latency; overlaying the adjusted image model onto the original image model of the received digital video frame to capture a warped image; and re-projecting the warped image according to the adjusted image model to form a re-projected image that approximates a view from the remote camera used to capture the received digital video frame at the time the digital video frame is received, wherein the re-projected image accounts for a digital video latency between the time the digital video frame is captured and the time the digital video frame is received.