3D TIME-OF-FLIGHT CAMERA SYSTEM AND POSITION/ORIENTATION CALIBRATION METHOD THEREFOR
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Abstract
A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.
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Citations
32 Claims
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1-15. -15. (canceled)
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16. Position and orientation calibration method for a camera system including a 3D time-of-flight camera, said method comprising
acquiring a camera-perspective range image of a scene using said 3D time-of-flight camera, detecting one or more planes within said range image and selecting a reference plane among said one or more planes detected, computing position and orientation parameters of said 3D time-of-flight camera with respect to said reference plane.
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24. A camera system comprising
a 3D time-of-flight camera for acquiring a camera-perspective range image of a scene, and an image processor for processing said range image, wherein said image processor comprises a position and orientation calibration routine implemented in at least one of hardware and software, wherein said position and orientation calibration routine, when executed by said image processor, detects one or more planes within a range image acquired by said 3D time-of-flight camera, selects a reference plane among said one or more planes detected and computes position and orientation parameters of said 3D time-of-flight camera with respect to said reference plane.
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32. A camera system comprising
a 3D time-of-flight camera for acquiring a camera-perspective range image of a scene, and an image processor for processing said range image, wherein said image processor is configured to detect one or more planes within a range image acquired by said 3D time-of-flight camera, to select a reference plane among said one or more planes detected and to compute position and orientation parameters of said 3D time-of-flight camera with respect to said reference plane, wherein said camera system comprises a memory, and wherein said processor is further configured to compute coordinate transformation parameters of a coordinate transformation from a camera reference system into a world reference system, in which coordinates are defined with respect to said reference plane, to store said coordinate transformation parameters within said memory.
Specification