Imaging systems and methods
First Claim
1. A system for creating at least one combined image from a plurality of images captured by a plurality of cameras, comprising:
- a memory configured to store predetermined calibration data for each of the plurality of cameras, the calibration data for each camera being derived from an image of a known training environment and compensating for;
a camera position relative to each other camera of the plurality of cameras independent of the location of the camera in an environment, anda camera characteristic based on an intrinsic parameter of the camera,the calibration data comprising a lookup map for mapping pixels imaged by the camera on a projected sphere about a virtual center pointa sensor unit configured to receive the plurality of images from the plurality of cameras; and
at least one processor in communication with the sensor unit and the memory, the at least one processor configured to;
correlate each received image with the predetermined calibration data for the camera from which the image was received; and
combine at least two of the received images from at least two of the cameras into the at least one combined image by;
positioning pixels of the at least two images based on the lookup map; and
merging the positioned pixels into the at least one combined image.
1 Assignment
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Accused Products
Abstract
At least one combined image may be created from a plurality of images captured by a plurality of cameras. A sensor unit may receive the plurality of images from the plurality of cameras. At least one processor in communication with the sensor unit may correlate each received image with calibration data for the camera from which the image was received. The calibration data may comprise camera position data and characteristic data. The processor may combine at least two of the received images from at least two of the cameras into the at least one combined image by orienting the at least two images relative to one another based on the calibration data for the at least two cameras from which the images were received and merging the at least two aligned images into the at least one combined image.
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Citations
38 Claims
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1. A system for creating at least one combined image from a plurality of images captured by a plurality of cameras, comprising:
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a memory configured to store predetermined calibration data for each of the plurality of cameras, the calibration data for each camera being derived from an image of a known training environment and compensating for; a camera position relative to each other camera of the plurality of cameras independent of the location of the camera in an environment, and a camera characteristic based on an intrinsic parameter of the camera, the calibration data comprising a lookup map for mapping pixels imaged by the camera on a projected sphere about a virtual center point a sensor unit configured to receive the plurality of images from the plurality of cameras; and at least one processor in communication with the sensor unit and the memory, the at least one processor configured to; correlate each received image with the predetermined calibration data for the camera from which the image was received; and combine at least two of the received images from at least two of the cameras into the at least one combined image by; positioning pixels of the at least two images based on the lookup map; and merging the positioned pixels into the at least one combined image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method for creating at least one combined image from a plurality of images captured by a plurality of cameras, comprising:
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receiving, at a sensor unit, the plurality of images from the plurality of cameras; correlating, with at least one processor in communication with the sensor unit, each received image with predetermined calibration data for the camera from which the image was received, the calibration data for each camera being derived from an image of a known training environment and compensating for; a camera position relative to each other camera of the plurality of cameras independent of the location of the camera in an environment, and a camera characteristic based on an intrinsic parameter of the camera, the calibration data comprising a lookup map for mapping pixels imaged by the camera on a projected sphere about a virtual center point; and combining, with the at least one processor, at least two of the received images from at least two of the cameras into the at least one combined image by; positioning pixels of the at least two images based on the lookup map; and merging the positioned pixels into the at least one combined image. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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Specification