Systems and methods for dynamic calibration of array cameras
First Claim
1. A method of dynamically generating geometric calibration data for an array of cameras, comprising:
- acquiring a set of images of a scene using a plurality of cameras, where the set of images comprises a reference image and an alternate view image;
detecting features in the set of images using a processor directed by an image processing application;
identifying within the alternate view image features corresponding to features detected within the reference image using a processor directed by an image processing application;
rectifying the set of images based upon a set of geometric calibration data using a processor directed by an image processing application;
determining residual vectors for geometric calibration data at locations where features are observed within the alternate view image based upon observed shifts in locations of features identified as corresponding in the reference image and the alternate view image using a processor directed by an image processing application;
determining updated geometric calibration data for a camera that captured the alternate view image based upon the residual vectors using a processor directed by an image processing application, wherein determining updated geometric calibration data comprises;
using at least an interpolation process to generate a residual vector calibration field from the residual vectors;
mapping the residual vector calibration field to a set of basis vectors; and
generating a denoised residual vector calibration field using a linear combination of less than the complete set of basis vectors; and
rectifying an image captured by the camera that captured the alternate view image based upon the updated geometric calibration data using a processor directed by an image processing application.
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Accused Products
Abstract
Systems and methods for dynamically calibrating an array camera to accommodate variations in geometry that can occur throughout its operational life are disclosed. The dynamic calibration processes can include acquiring a set of images of a scene and identifying corresponding features within the images. Geometric calibration data can be used to rectify the images and determine residual vectors for the geometric calibration data at locations where corresponding features are observed. The residual vectors can then be used to determine updated geometric calibration data for the camera array. In several embodiments, the residual vectors are used to generate a residual vector calibration data field that updates the geometric calibration data. In many embodiments, the residual vectors are used to select a set of geometric calibration from amongst a number of different sets of geometric calibration data that is the best fit for the current geometry of the camera array.
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Citations
22 Claims
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1. A method of dynamically generating geometric calibration data for an array of cameras, comprising:
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acquiring a set of images of a scene using a plurality of cameras, where the set of images comprises a reference image and an alternate view image; detecting features in the set of images using a processor directed by an image processing application; identifying within the alternate view image features corresponding to features detected within the reference image using a processor directed by an image processing application; rectifying the set of images based upon a set of geometric calibration data using a processor directed by an image processing application; determining residual vectors for geometric calibration data at locations where features are observed within the alternate view image based upon observed shifts in locations of features identified as corresponding in the reference image and the alternate view image using a processor directed by an image processing application; determining updated geometric calibration data for a camera that captured the alternate view image based upon the residual vectors using a processor directed by an image processing application, wherein determining updated geometric calibration data comprises; using at least an interpolation process to generate a residual vector calibration field from the residual vectors; mapping the residual vector calibration field to a set of basis vectors; and generating a denoised residual vector calibration field using a linear combination of less than the complete set of basis vectors; and rectifying an image captured by the camera that captured the alternate view image based upon the updated geometric calibration data using a processor directed by an image processing application. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A camera array, comprising:
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at least one array of cameras comprising a plurality of cameras; a processor; and memory containing an image processing application; wherein the image processing application directs the processor to; acquire a set of images of a scene using the plurality of cameras, where the set of images comprises a reference image and an alternate view image; detect features in the set of images; identify within the alternate view image features corresponding to features detected within the reference image; rectify the set of images based upon a set of geometric calibration data; determine residual vectors for geometric calibration data at locations where features are observed within the alternate view image based upon observed shifts in locations of features identified as corresponding in the reference image and the alternate view image; determine updated geometric calibration data for a camera that captured the alternate view image based upon the residual vectors, wherein determining updated geometric calibration data comprises; using at least an interpolation process to generate a residual vector calibration field from the residual vectors; mapping the residual vector calibration field to a set of basis vectors; and generating a denoised residual vector calibration field using a linear combination of less than the complete set of basis vectors; and rectify an image captured by the camera that captured the alternate view image based upon the updated geometric calibration data. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method of dynamically generating geometric calibration data for an array of cameras, comprising:
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acquiring a set of images of a scene using a plurality of cameras, where the set of images comprises a reference image and an alternate view image; detecting features in the set of images using a processor directed by an image processing application; identifying within the alternate view image features corresponding to features detected within the reference image using a processor directed by an image processing application; rectifying the set of images based upon a set of geometric calibration data using a processor directed by an image processing application; determining residual vectors for geometric calibration data at locations where features are observed within the alternate view image based upon observed shifts in locations of features identified as corresponding in the reference image and the alternate view image using a processor directed by an image processing application; determining updated geometric calibration data for a camera that captured the alternate view image based upon the residual vectors using a processor directed by an image processing application; rectifying an image captured by the camera that captured the alternate view image based upon the updated geometric calibration data using a processor directed by an image processing application; acquiring an additional set of images of a scene using the plurality of cameras; determining residual vectors for the geometric calibration data using the additional set of images, wherein determining updated geometric calibration data for a camera that captured the alternate view image based upon the residual vectors also comprises utilizing the residual vectors for the geometric calibration data determined using the additional set of images; detecting at least one region within a field of view of a camera that does not satisfy a feature density threshold; wherein the additional set of images of a scene is acquired in response to detecting that at least one region within a field of view of a camera does not satisfy the feature density threshold. wherein utilizing the residual vectors determined using the additional set of images further comprises utilizing the residual vectors determined using the additional set of images to determine updated geometric calibration data with respect to the at least one region within the field of view of the camera in which the density threshold was not satisfied; and providing prompts via a user interface using a processor directed by an image processing application, where the prompts direct orientation of the camera array to shift locations of features identified as corresponding in the reference image and the alternate view image into the at least one region within the field of view of a camera that does not satisfy a feature density threshold during acquisition of the additional set of images.
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Specification