Camera image georeferencing systems

A method of adapting an existing georeferencing-enabled camera model derived for a

• given camera view of a single security surveillance camera, to a new camera view of the
• single security surveillance camera, such existing georeferencing-enabled camera model
• relating image pixel-coordinates of the given camera view to rays in three-dimensional space, relative to a virtual camera point, such method comprising the steps of:
• a) locating in the new camera view a minimum of two located landmarks to be used
• for alignment of the given camera view with the new camera view, such minimum of two located landmarks comprising a first located landmark and a second located landmark;
• b) deriving for the new camera view, ray equations associated with the first located
• landmark and the second located landmark, such ray equations outputting two respective rays;
• c) intersecting each such two respective rays, along with all such rays of the existing
• georeferencing-enabled camera model, by a sphere of arbitrary radius and centered on the virtual camera point to yield a first ray-end point and a second ray-end point respectively located at the end of each such two rays;
• d) locating in the given camera view two corresponding ray-end points, each one associated with the same pixel coordinates to those of first ray-end point and a second ray-end point respectively;
• e) locating in the given camera view a third ray-end point comprising the intersection of a first intersecting sphere-set comprising three spheres respectively centered on the first ray-end point, the second ray-end point, and the virtual camera point, wherein each sphere of the first intersecting sphere-set comprise radii equal to a distance extending from their centers to the third ray-end point in
• the given view;
• f) using a second intersecting sphere-set to calculate a corresponding third ray-end
• point in the new camera view, the second intersecting sphere-set comprising three corresponding spheres respectively centered on the two corresponding ray-end points and the virtual camera point, wherein each corresponding sphere of the second intersecting sphere-set comprise radii equal to the respective spheres of the first intersecting sphere-set;
• g) locating in the new view at least one corresponding third ray-end point along with its associated pixel coordinates in the new view;
• h) confirming the corresponding third ray-end using the signed distance of the corresponding third ray-end to a plane formed by the virtual camera point and the two corresponding ray-end points of the new view and the third ray-end point to a plane formed by the first ray-end point, the second ray-end point, and the virtual camera point;
• and
• i) deriving such georeferencing-enabled camera model by repeating steps (e) through (h) for all other ray-end points of such given view;
• j) wherein adaptation, of such existing georeferencing-enabled camera model derived for a given camera view to a new camera view, may be achieved.