Montaging system

A montaging system comprising:

• (a) one or more capture apparatus each containing a camera and an inertial measurement unit (IMU);
• (b) computer-readable instructions stored in non-transitory storage media and at least one microprocessor coupled to said non-transitory storage media for executing said computer-readable instructions, said at least one microprocessor configured to:
• collect one or more portions of capture data produced by each of said one or more capture apparatus carried by one or more respective users each undergoing motion at a site during a capture session;
• allow said one or more respective users to apply one or more markings to said one or more portions;
• apply one or more constraints conditioning said motion;
• perform an estimation of a velocity profile of each of said capture apparatus from said one or more portions by employing non-sequential visual inertial odometry (VIO) and by utilizing said one or more markings;
• determine a plurality of positions of each of said capture apparatus by performing a constrained integration of said velocity profile based on said one or more constraints;
• and
• produce a montage of said capture data based on said plurality of positions.

A computer-implemented montaging method comprising the steps of:

• (a) collecting one or more portions of capture data produced by a capture apparatus carried by a user undergoing motion at a site during a capture session, said capture apparatus comprising a camera and an inertial measurement unit (IMU);
• (b) applying one or more markings by said user to said one or more portions;
• (c) applying one or more constraints conditioning said motion;
• (d) estimating a velocity profile of said capture apparatus from said one or more portions by employing non-sequential visual inertial odometry (VIO) and by utilizing said one or more markings;
• (e) determining a plurality of positions of said capture apparatus by performing a constrained integration of said velocity profile based on said one or more constraints;
• and
• (f) producing a montage of said capture data based on said plurality of positions.