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Real-time image undistortion for incremental 3D reconstruction

  • US 10,269,148 B2
  • Filed: 05/01/2017
  • Issued: 04/23/2019
  • Est. Priority Date: 05/01/2017
  • Status: Active Grant
First Claim
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1. A method for image undistortion in three-dimensional (3D) reconstruction, comprising:

  • receiving an image produced by a sensor;

    determining whether correction values are cached for the sensor, wherein each correction value is configured to place a corresponding pixel into a corrected location;

    when there are no cached correction values, calculating correction values for pixels in the image, generating a correction grid for the image including vertices corresponding to texture coordinates from the image, wherein each vertex in the correction grid includes a corresponding correction value, partitioning the correction grid into partitioned grids, and caching the partitioned grids; and

    rendering the image using the partitioned grids.

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