Method for estimating a 3D trajectory of a projectile from 2D camera images

A method for estimating a 3D trajectory of a projectile from 2D camera images, comprising:

• obtaining a sequence of 2D camera images from a camera, wherein one or more 2D camera images of said sequence of 2D camera images comprise an image of a projectile;
• identifying a pixel location of said projectile in each 2D camera image of said one or more 2D camera images;
• calculating a camera projection transform that maps points in a world reference frame into pixel positions in said sequence of 2D camera images;
• calculating a model that maps projectile initial conditions into a modeled pixel position for said projectile in each 2D camera image of said one or more 2D camera images, wherein said projectile initial conditions comprise
• an initial position vector in said world reference frame for said projectile;
• and,
• an initial velocity vector in said world reference frame for said projectile;
• and,
• calculating estimated projectile initial conditions as projectile initial conditions that minimize differences between said modeled pixel position for said projectile and said pixel location of said projectile across said one or more 2D camera images.