ADAPTIVE ESTIMATION OF FRAME TIME STAMP LATENCY

摘要

A mobile device compensates for a lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.