Target-less auto-alignment of image sensors in a multi-camera system
First Claim
Patent Images
1. A computer-implemented method for determining a pixel shift between an image pair captured by image sensors, the method comprising:
- accessing a first image and a second image of the image pair, the first and second images comprising image data representative of an overlapping field of view between the image sensors;
performing a smoothing operation on the first image and the second image to produce smoothed image data;
determining edge magnitude data and edge phase data from the smoothed image data;
identifying, by one or more processors, one or more edges in the image data based at least in part on the edge magnitude data and the edge phase data of the smoothed image data; and
determining a pixel shift between the image pair by matching a first edge in the first image with a second edge in the second image using determined edge lengths for the identified one or more edges.
5 Assignments
0 Petitions
Accused Products
Abstract
A pair of cameras having an overlapping field of view is aligned based on images captured by image sensors of the pair of cameras. A pixel shift is identified between the images. Based on the identified pixel shift, a calibration is applied to one or both of the pair of cameras. To determine the pixel shift, the camera applies correlation methods including edge matching. Calibrating the pair of cameras may include adjusting a read window on an image sensor. The pixel shift can also be used to determine a time lag, which can be used to synchronize subsequent image captures.
-
Citations
17 Claims
-
1. A computer-implemented method for determining a pixel shift between an image pair captured by image sensors, the method comprising:
-
accessing a first image and a second image of the image pair, the first and second images comprising image data representative of an overlapping field of view between the image sensors; performing a smoothing operation on the first image and the second image to produce smoothed image data; determining edge magnitude data and edge phase data from the smoothed image data; identifying, by one or more processors, one or more edges in the image data based at least in part on the edge magnitude data and the edge phase data of the smoothed image data; and determining a pixel shift between the image pair by matching a first edge in the first image with a second edge in the second image using determined edge lengths for the identified one or more edges. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A non-transitory computer readable medium comprising instructions for determining a pixel shift between an image pair captured by image sensors, the instructions executable by a processor, the instructions comprising instructions for:
-
accessing a first image and a second image of the image pair, the first and second images comprising image data representative of an overlapping field of view between the image sensors; performing a smoothing operation on the first image and the second image to produce smoothed image data; determining edge magnitude data and edge phase data from the smoothed image data; identifying, by one or more processors, one or more edges in the image data based at least in part on the edge magnitude data and the edge phase data of the smoothed image data; and determining a pixel shift between the image pair by matching a first edge in the first image with a second edge in the second image using determined edge lengths for the identified one or more edges. - View Dependent Claims (9, 10, 11, 12)
-
-
13. A camera system comprising at least one processor, an image sensor, and a non-transitory computer readable medium comprising instructions for determining a pixel shift between an image pair captured by image sensors including the image sensor, the instructions executable by the at least one processor, the instructions comprising instructions for:
-
accessing a first image and a second image of the image pair, the first and second images comprising image data representative of an overlapping field of view between the image sensors; performing a smoothing operation on the first image and the second image to produce smoothed image data; determining edge magnitude data and edge phase data from the smoothed image data; identifying, by one or more processors, one or more edges in the image data based at least in part on the edge magnitude data and the edge phase data of the smoothed image data; determining a pixel shift between the image pair by matching a first edge in the first image with a second edge in the second image using determined edge lengths for the identified one or more edges. - View Dependent Claims (14, 15, 16, 17)
-
Specification