Method and device for determining movement between successive video images

A device for determining movement between successive video images comprising:

• a processor configured to receives image signals on video images successively captured by an image sensor, and for each current pair of first and second successive video images, determining movement therebetween, said processor comprising
• a test module comprising a RANSAC type algorithm and configured to test a plurality of homography model hypotheses of the movement using said RANSAC type algorithm operating on a set of first points in the first video image and first assumed corresponding points in the second image so as to deliver a selected homography model hypothesis defining the movement;
• an auxiliary input configured to receive auxiliary information from at least one inertial sensor, the auxiliary information being representative of a movement of said image sensor between the pair of first and second successive video images;
• said test module configured for testing a plurality of first homography model hypotheses of the movement obtained from a set of second points in the first video image and second assumed corresponding points in the second video image and at least one second homography model hypothesis obtained from the auxiliary information.

An apparatus comprising:

• an image sensor configured to generate image signals based on successively captured video images;
• at least one inertial sensor;
• a device for determining movement between successive video images comprising
• a processor configured to receives the image signals, and for each current pair of first and second successive video images, determining movement therebetween, said processor comprising
• a test module comprising a RANSAC type algorithm and configured to test a plurality of homography model hypotheses of the movement using said RANSAC type algorithm operating on a set of first points in the first video image and first assumed corresponding points in the second image so as to deliver a selected homography model hypothesis defining the movement,
• an auxiliary input configured to receive auxiliary information from said at least one inertial sensor, the auxiliary information being representative of a movement of said image sensor between the pair of first and second successive video images, and
• said test module configured for testing a plurality of first homography model hypotheses of the movement obtained from a set of second points in the first video image and second assumed corresponding points in the second video image and at least one second homography model hypothesis obtained from the auxiliary information.