CALIBRATING A CAMERA SYSTEM
First Claim
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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Accused Products
Abstract
A method of calibrating a camera system which is capable of recording at least two images simultaneously is described. The method comprises the step of processing a first pair of images, wherein the processing step comprises transforming at least one of a first and a second image of the first pair through a projective map on a plane, the map depending on one or more parameter values, so as to align an epipolar line in the first image with a corresponding epipolar line in the second image of the first pair, resulting in a second pair of images. The method further comprises estimating 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, and displacing 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. The method further comprises determining a measure of error between the first and the second image of the second image pair, dependent on the one or more parameters, determining an update for the one or more parameter values for reducing a value of the measure of error, and updating the one or more parameter values, using the update.
52 Citations
11 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 7)
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6. Software for calibrating a camera system (700) which is capable of recording at least two images simultaneously, the software comprising instructions for processing a first pair of images (202, 206), the instructions being operative to carry out the following steps:
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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 of the first pair 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 the 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 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 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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8. A camera system which is capable of recording at least two images simultaneously (700), the camera system comprising a camera and calibrating means (716) arranged to process a first pair of images (202,206) for calibrating the camera system, wherein the calibrating means comprises:
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rectifier means arranged to transform at least one of a first and a second image of the first pair 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 means arranged to estimate (908) respective values for a disparity, which values associate respective first pixels along a first epipolar line of 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; displacement means arranged to displace (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; error-determining means arranged to determine (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; error-reduction means (710) for determining (914) an update for the one or more parameter values for reducing a value of the measure of error; updating means for updating (916) the one or more parameter values, using the update. - View Dependent Claims (9, 10, 11)
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Specification