Multi view camera registration
First Claim
1. A method, comprising:
- back projecting at least one image from at least one of a plurality of camera views to a 3D model of a world space environment based on a set of camera parameters;
wherein the back projecting includes adding one image from a first camera to the 3D model as a texture;
automatically comparing the back projected image to one or more images from other camera views to determine a set of error metrics;
wherein the automatically comparing comprises transforming the 3D model to a 2D image for a second camera and comparing the 2D image to a video image captured by the second camera; and
automatically adjusting the camera parameters and the 3D model to minimize the error metrics based on the automatically comparing.
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Abstract
A system for registering one or more cameras and/or creating an accurate three dimensional (3D) model of a world space environment includes back projecting at least one image from at least one of a plurality of camera views to the 3D model based on a set of existing camera parameters. The back projected image is added as a texture for the 3D model. This texture is automatically compared to one or more images from other camera views using a color space comparison of images to determine a set of differences or errors. The camera parameters and the 3D model are automatically adjusted to minimize the differences or errors. Over time, the parameters and the 3D model converge on a state that can be used to track moving objects, insert virtual graphics and/or perform other functions.
21 Citations
22 Claims
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1. A method, comprising:
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back projecting at least one image from at least one of a plurality of camera views to a 3D model of a world space environment based on a set of camera parameters; wherein the back projecting includes adding one image from a first camera to the 3D model as a texture; automatically comparing the back projected image to one or more images from other camera views to determine a set of error metrics; wherein the automatically comparing comprises transforming the 3D model to a 2D image for a second camera and comparing the 2D image to a video image captured by the second camera; and automatically adjusting the camera parameters and the 3D model to minimize the error metrics based on the automatically comparing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus, comprising:
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one or more processors; and one or more processor readable storage mediums connected to the one or more processors and configured to store code for programming the one or more processors to add an image from at least one of a plurality of camera views to a model of an environment based on a set of camera parameters, wherein the model is a 3D model in 3D world coordinates, compare the added image to an image from a different camera view using a color space comparison of images to determine one or more differences between the added image and the image from the different camera view, and adjust the camera parameters and the 3D model to minimize the one or more differences between the added image and the image from the different camera view based on color space comparisons of images; and wherein the one or more processors are configured to add the image to the model of the environment as a texture for the model by transforming the 3D model from 3D world coordinates to 2D camera space for a first camera using current camera parameters for the first camera, adding the one image to the transformed 3D model and transforming the 3D model with the one image from 2D camera space for the first camera to 3D world coordinates. - View Dependent Claims (10, 11, 12, 13)
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14. A method, comprising:
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back projecting at least one image from at least one of a plurality of camera views to a 3D model of a world space environment based on a set of camera parameters; wherein the back projecting includes adding one image from a first camera to the 3D model as a texture by transforming the 3D model from 3D world coordinates to 2D camera space for the first camera using current camera parameters for the first camera, adding the one image to the transformed model and transforming the model with the one image from 2D camera space for the first camera to 3D world coordinates; automatically comparing the back projected image to one or more images from other camera views to determine a set of error metrics; and automatically adjusting the camera parameters and the 3D model to minimize the error metrics based on the automatically comparing. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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Specification