Real-time image undistortion for incremental 3D reconstruction
First Claim
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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Abstract
A system provides image undistortion in 3D reconstruction. The system receives an image produced by a sensor, and determines whether correction values are cached for the sensor, where each correction value is configured to place a corresponding pixel into a corrected location. When there are no cached correction values, the system calculates correction values for pixels in the image, generates a correction grid for the image including vertices corresponding to texture coordinates from the image, where each vertex in the correction grid includes a corresponding correction value, partitions the correction grid into partitioned grids, and caches the partitioned grids. The system then renders the image using the partitioned grids.
27 Citations
20 Claims
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1. A method for image undistortion in three-dimensional (3D) reconstruction, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium having instructions stored thereon that, when executed by a processor, cause the processor to provide image undistortion in three-dimensional (3D) reconstruction, the processor:
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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. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A system for providing image undistortion in three-dimensional (3D) reconstruction, the system comprising:
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a processor; and a memory coupled with the processor and storing instructions that, when executed by the processor, cause the processor to; receive an image produced by a sensor; determine 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, calculate correction values for pixels in the image, generate 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, partition the correction grid into partitioned grids, and cache the partitioned grids; and render the image using the partitioned grids. - View Dependent Claims (20)
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Specification