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CALIBRATING A CAMERA SYSTEM

  • US 20100020178A1
  • Filed: 12/14/2007
  • Published: 01/28/2010
  • Est. Priority Date: 12/18/2006
  • Status: Active Grant
First Claim
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1. A method of calibrating a camera system (700) which is capable of recording at least two images simultaneously, the method comprising the step of processing a first pair of images (202, 206), wherein the processing step comprises:

  • transforming (906) at least one of a first and a second image of the first pair through a projective map (402, 404) on a plane, the map depending on one or more parameter values (406), so as to align an epipolar line (304) in the first image with a corresponding epipolar line (306) in the second image of the first pair, resulting in a second pair of images;

    estimating (908) respective values for a disparity, which values associate respective first pixels along a first epipolar line in a first image of the second pair with respective second pixels along a corresponding second epipolar line in a second image of the second pair;

    displacing (910) respective pixels of the first epipolar line in the first image of the second image pair in accordance with a respective value of the disparity for the respective pixels;

    determining (912) a measure of error (412) between the first and the second image of the second image pair, dependent on the one or more parameters;

    determining (914) an update for the one or more parameter values for reducing a value of the measure of error; and

    updating (916) the one or more parameter values, using the update.

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