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Camera array removing lens distortion

  • US 10,368,011 B2
  • Filed: 07/28/2015
  • Issued: 07/30/2019
  • Est. Priority Date: 07/25/2014
  • Status: Active Grant
First Claim
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1. A camera system comprising:

  • a camera array comprising camera modules, the camera modules comprising a master camera that includes a processor, a memory, a sensor, a lens and a switch, the switch configured to instruct each of the camera modules to initiate a start operation to start recording video data using the lens and the sensor in each of the camera modules and the switch configured to instruct the camera modules to initiate a stop operation to stop recording; and

    an aggregation system communicatively coupled to the camera array to receive the video data from the camera array, the aggregation system including code and routines stored on a non-transitory memory and configured to provide lens distortion correction for the video data when executed by the processor based on a forward model to map a three-dimensional real-world point onto an undistorted two-dimensional image by capturing the three-dimensional real-world point (V), determining a length of V by calculating a Euclidean norm, determining a normalized three-dimensional point (VN) by normalizing V, and determining an angle of VN;

    wherein the camera modules of the camera array are configured to provide at least a 3×

    field of view overlap; and

    wherein the camera array comprises equator camera modules that are arranged around an equator of the camera array so that the equator camera modules are adjacent to one another and configured to capture images having a same orientation relative to one another, wherein the same orientation is a portrait orientation or a landscape orientation of an optical sensor.

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