Registering cameras with virtual fiducials
First Claim
Patent Images
1. A multi-camera imager (MCI) comprising:
- first and second cameras each having a center of projection, an optical axis extending from the center of projection and an image plane intersected by the optical axis at a principal point, wherein the first camera comprises a time of flight (TOF) range camera and the second camera comprises an RGB picture camera;
memory having stored therein;
a fundamental matrix based on a polynomial transform configured to map image plane coordinates of images of features of a calibration target imaged by the TOF range camera on the image plane of the TOF range camera to image plane coordinates of images of the same features of the calibration target as imaged by the RGB picture camera on the image plane of the RGB picture camera; and
instructions executable to register images of a scene acquired by the first and second cameras to each other based on the fundamental matrix; and
a processor configured to execute the instructions to register the images of the scene based on the fundamental matrix.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of registering first and second cameras in a multi-camera imager comprising generating virtual fiducials at different locations relative to the multi camera imager and using coordinates of the virtual fiducials to determine a fundamental matrix for the cameras.
-
Citations
20 Claims
-
1. A multi-camera imager (MCI) comprising:
-
first and second cameras each having a center of projection, an optical axis extending from the center of projection and an image plane intersected by the optical axis at a principal point, wherein the first camera comprises a time of flight (TOF) range camera and the second camera comprises an RGB picture camera; memory having stored therein; a fundamental matrix based on a polynomial transform configured to map image plane coordinates of images of features of a calibration target imaged by the TOF range camera on the image plane of the TOF range camera to image plane coordinates of images of the same features of the calibration target as imaged by the RGB picture camera on the image plane of the RGB picture camera; and
instructions executable to register images of a scene acquired by the first and second cameras to each other based on the fundamental matrix; anda processor configured to execute the instructions to register the images of the scene based on the fundamental matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method of registering first and second cameras comprised in a multi-camera imager (MCI), each camera having a center of projection, an optical axis extending from the center of projection and an image plane intersected by the optical axis, the method comprising:
-
operating the MCI to image a calibration target and acquire first and second images of the calibration target by the first and second cameras respectively, wherein the first camera comprises a time of flight (TOF) range camera and the second camera comprises an RGB picture camera; determining a polynomial transform configured to map image plane coordinates of images of features of the calibration target in the first image on the image plane of the TOF range camera to image plane coordinates of images of the same features in the second image on the image plane of the RGB picture camera; and using the polynomial transform to determine a fundamental matrix for the first and second cameras. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. Computer memory embodied with instructions executable by one or more processors for registering first and second cameras comprised in a multi-camera imager (MCI), the first and second cameras having a center of projection, an optical axis extending from the center of projection and an image plane intersected by the optical axis, comprising:
-
operating the MCI to image a calibration target and acquire first and second images of the calibration target by the first and second cameras respectively, wherein the first camera comprises a time of flight (TOF) range camera and the second camera comprises an RGB picture camera; determining a polynomial transform configured to map image plane coordinates of images of features of the calibration target in the first image on the image plane of the TOF range camera to image plane coordinates of images of the same features in the second image on the image plane of the RGB picture camera; and using the polynomial transform to determine a fundamental matrix for the first and second cameras.
-
Specification