Camera array including camera modules
First Claim
1. A camera system comprising:
- a camera array comprising;
equator camera modules arranged around an equator of the camera array, wherein the equator camera modules capture a first set of images;
below the equator camera modules arranged below the equator of the camera array, wherein the below the equator camera modules capture a second set of images; and
above the equator camera modules arranged above the equator of the camera array, wherein the above the equator camera modules capture a third set of images;
wherein the equator camera modules, the below the equator camera modules, and the above the equator camera modules are synchronized to capture the first set of images, the second set of images, and the third set of images, respectively, at substantially a same time;
wherein the equator camera modules are arranged around the equator of the camera array so that each pixel in each image included in the first set of images is captured by at least three adjacent camera modules selected from the equator camera modules to provide at least a 3×
field of view overlap; and
an aggregation system comprising one or more processors and a non-transitory memory storing computer code which, when executed by the one or more processors causes the one or more processors to;
receive video data that describes the first set of images, the second set of images, and the third set of images;
identify a device identifier and a position of each corresponding camera module;
stitch the first set of images, the second set of images, and the third set of images together based on a relative position of each corresponding camera module to generate three-dimensional (3D) video; and
correct lens distortion that occurs in the 3D video based on a forward model by mapping a 3D real world point onto an undistorted two-dimensional (2D) world point.
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Accused Products
Abstract
The disclosure includes a camera array comprising camera modules, the camera modules comprising a master camera that includes a processor, a memory, a sensor, a lens, a status indicator, and a switch, the switch configured to instruct each of the camera modules to initiate a start operation to start recording video data using the lens and the sensor in the other camera modules and the switch configured to instruct each of the camera modules to initiate a stop operation to stop recording, the status indicator configured to indicate a status of at least one of the camera modules. Lens distortion effects may be removed from the frames described by the video data. The camera modules of the camera array are configured to provide a 3× field of view overlap.
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Citations
23 Claims
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1. A camera system comprising:
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a camera array comprising; equator camera modules arranged around an equator of the camera array, wherein the equator camera modules capture a first set of images; below the equator camera modules arranged below the equator of the camera array, wherein the below the equator camera modules capture a second set of images; and above the equator camera modules arranged above the equator of the camera array, wherein the above the equator camera modules capture a third set of images; wherein the equator camera modules, the below the equator camera modules, and the above the equator camera modules are synchronized to capture the first set of images, the second set of images, and the third set of images, respectively, at substantially a same time; wherein the equator camera modules are arranged around the equator of the camera array so that each pixel in each image included in the first set of images is captured by at least three adjacent camera modules selected from the equator camera modules to provide at least a 3×
field of view overlap; andan aggregation system comprising one or more processors and a non-transitory memory storing computer code which, when executed by the one or more processors causes the one or more processors to; receive video data that describes the first set of images, the second set of images, and the third set of images; identify a device identifier and a position of each corresponding camera module; stitch the first set of images, the second set of images, and the third set of images together based on a relative position of each corresponding camera module to generate three-dimensional (3D) video; and correct lens distortion that occurs in the 3D video based on a forward model by mapping a 3D real world point onto an undistorted two-dimensional (2D) world point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A camera system comprising:
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a camera array comprising camera modules arranged around an equator of the camera array so that each pixel of an image frame captured by one of the camera modules is captured by at least two other adjacent camera modules to provide at least a 3×
field of view overlap, wherein each of the camera modules captures image frames and the camera modules are synchronized to capture the image frames at substantially the same time; andan aggregation system comprising one or more processors and a non-transitory memory storing computer code which, when executed by the one or more processors causes the one or more processors to; receive video data that describes the image frames captured by the camera modules; identify a device identifier and a position of each corresponding camera module; stitch the image frames together based on a relative position of each corresponding camera module to generate three-dimensional (3D) video; and correct lens distortion that occurs in the 3D video based on a forward model by mapping a 3D real world point onto an undistorted two-dimensional (2D) world point.
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22. A camera system comprising:
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a camera array comprising camera modules arranged around an equator of the camera array, wherein; the camera modules are synchronized to capture a set of images of an environment where the camera array is located at substantially the same time; the camera modules are arranged around the equator of the camera array so that each pixel in each image included in the set of images is captured by at least three adjacent camera modules selected from the camera modules to provide at least a 3×
field of view overlap;the set of images is described by video data; and the set of images captures substantially a three hundred and sixty degree view of the environment where the camera array is located; and an aggregation system comprising one or more processors and a non-transitory memory storing computer code which, when executed by the one or more processors causes the one or more processors to; receive video data that describes the set of images captured by the camera modules; identify a device identifier and a position of each corresponding camera module; stitch the set of images together based on a relative position of each corresponding camera module to generate three-dimensional (3D) video; and correct lens distortion that occurs in the 3D video based on an inverse model by mapping a 3D real world point from an undistorted 2D image to a 3D image given a particular distance.
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23. A camera system comprising:
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a camera array comprising camera modules, wherein; the camera modules include equator camera modules, below the equator camera modules, and above the equator camera modules; the camera modules are synchronized to capture a set of images of an environment where the camera array is located at substantially the same time; the camera modules are arranged in the camera array so that each pixel in each image included in the set of images is captured by at least three camera modules to provide at least a 3×
field of view overlap;the set of images is described by video data; and the set of images captures substantially a three hundred and sixty degree view of the environment where the camera array is located; and an aggregation system comprising one or more processors and a non-transitory memory storing computer code which, when executed by the one or more processors causes the one or more processors to; receive video data that describes the set of images captured by the camera modules; identify a device identifier and a position of each corresponding camera module; stitch the set of images together based on a relative position of each corresponding camera module to generate three-dimensional (3D) video; and correct lens distortion that occurs in the 3D video based on a forward model by mapping a 3D real world point onto an undistorted two-dimensional (2D) world point.
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Specification