Infrastructure free intrinsic calibration
First Claim
1. A system comprising:
- a vehicle configured to traverse through an environment, the vehicle comprising;
a plurality of cameras disposed on a body of the vehicle such that fields of view of at least two of the cameras at least partially overlap;
one or more processors; and
computer-readable media storing instructions executable by the one or more processors, wherein the instructions cause the system to perform operations comprising;
receiving a set of images from the plurality of cameras, the set of images comprising images representing the environment at substantially a first time and captured by the plurality of cameras,determining, for the set of images, a plurality of point pairs, each of the point pairs comprising a first point in one of the images of the set of images and a second point in another of the images of the set of images, the first point and the second point corresponding to a same image feature;
determining first errors associated with the plurality of point pairs, the first errors comprising, at least in part, a first distance between the first point and an epipolar line corresponding to the second point;
determining, based at least in part on the first errors, a first subset of the plurality of point pairs;
determining, from the first subset of the plurality of point pairs, a first correction function representative of a misalignment of an estimated relative pose of the cameras;
determining second errors associated with the plurality of point pairs, the second errors comprising, at least in part, a second distance between the first point and a re-projection of the second point estimating a point depth;
determining, based at least in part on the second errors, a second subset of the plurality of point pairs;
determining, from the second subset of the plurality of point pairs, a second correction function representative of a misalignment of an estimated relative pose of the cameras;
calibrating the plurality of cameras, based at least in part on the first correction function and the second correction function.
1 Assignment
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Accused Products
Abstract
This disclosure is directed to calibrating sensors mounted on an autonomous vehicle. First image data and second image data representing an environment can be captured by first and second cameras, respectively (and or a single camera at different points in time). Point pairs comprising a first point in the first image data and a second point in the second image data can be determined and projection errors associated with the points can be determined. A subset of point pairs can be determined, e.g., by excluding point pairs with the highest projection error. Calibration data associated with the subset of points can be determined and used to calibrate the cameras without the need for calibration infrastructure.
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Citations
20 Claims
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1. A system comprising:
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a vehicle configured to traverse through an environment, the vehicle comprising; a plurality of cameras disposed on a body of the vehicle such that fields of view of at least two of the cameras at least partially overlap; one or more processors; and computer-readable media storing instructions executable by the one or more processors, wherein the instructions cause the system to perform operations comprising; receiving a set of images from the plurality of cameras, the set of images comprising images representing the environment at substantially a first time and captured by the plurality of cameras, determining, for the set of images, a plurality of point pairs, each of the point pairs comprising a first point in one of the images of the set of images and a second point in another of the images of the set of images, the first point and the second point corresponding to a same image feature; determining first errors associated with the plurality of point pairs, the first errors comprising, at least in part, a first distance between the first point and an epipolar line corresponding to the second point; determining, based at least in part on the first errors, a first subset of the plurality of point pairs; determining, from the first subset of the plurality of point pairs, a first correction function representative of a misalignment of an estimated relative pose of the cameras; determining second errors associated with the plurality of point pairs, the second errors comprising, at least in part, a second distance between the first point and a re-projection of the second point estimating a point depth; determining, based at least in part on the second errors, a second subset of the plurality of point pairs; determining, from the second subset of the plurality of point pairs, a second correction function representative of a misalignment of an estimated relative pose of the cameras; calibrating the plurality of cameras, based at least in part on the first correction function and the second correction function. - View Dependent Claims (2, 3, 4, 5)
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6. A method comprising:
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receiving first image data comprising a first image of an environment captured by a first camera disposed on a system, the first camera having a first field of view; receiving second image data comprising a second image of the environment captured by a second camera disposed on the system, the second camera having a second field of view at least partially overlapping the first field of view; determining a plurality of point pairs, a point pair of the plurality of point pairs comprising a first point in the first image and a second point in the second image corresponding to the first point; determining first errors for individual point pairs of the plurality of point pairs, the first errors comprising, at least in part, a distance between the first point and an epipolar line corresponding to the second point in the first image; determining second errors for individual point pairs of the plurality of point pairs, the second errors comprising, at least in part, a distance between the first point and a reprojection of the corresponding second point, the reprojection based at least in part on an estimated depth of the first point; determining, based at least in part on at least one of the first errors or the second errors, a subset of the plurality of point pairs; and determining, from the subset of the plurality of point pairs, a calibration function representative of at least one of an estimated relative pose of the first camera and the second camera or an estimated camera intrinsic of the first camera or the second camera. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:
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receiving first image data comprising a first image of an environment captured by a first camera disposed on a system, the first camera having a first field of view; receiving second image data comprising a second image of the environment captured by a second camera disposed on the system, the second camera having a second field of view at least partially overlapping the first field of view; determining a plurality of point pairs, individual of the point pairs comprising a first point in the first image and a second point in the second image corresponding to the first point; determining first errors for individual point pairs of the plurality of point pairs, the first errors comprising, at least in part, a distance between the first point and an epipolar line corresponding to the second point in the first image; determining second errors for individual point pairs of the plurality of point pairs, the second errors comprising, at least in part, a distance between the first point and a reprojection of the corresponding second point estimating a depth of the first point; determining, based at least in part on at least one of the first errors or the second errors, a subset of the plurality of point pairs; determining, from the subset of the plurality of point pairs, a calibration function representative of at least one of an estimated relative pose of the first camera and the second camera or an estimated camera intrinsic. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification