MULTI-VIEW ALIGNMENT BASED ON FIXED-SCALE GROUND PLANE RECTIFICATION
First Claim
1. A method of generating a common ground plane from a plurality of image sequences, each image sequence captured by a corresponding one of a plurality of cameras, said plurality of cameras having disjoint fields of view of a scene, said method comprising the steps of:
- detecting at least three observations for each image sequence;
generating a plurality of rectified ground planes for the plurality of image sequences, said generation being based on a scene geometry and a spatial property of each corresponding camera determined from said detected observations in each of the image sequences;
determining a geometric property of the plurality of observations in the plurality of image sequences;
determining a relative scaling factor of each of said plurality of rectified ground planes, said relative scaling factor based on the geometric property of the plurality of objects in the images and the spatial property of each camera; and
generating the common ground plane from the plurality of image sequences based on said rectified ground planes and said determined relative scaling factors.
1 Assignment
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Accused Products
Abstract
A system and method of generating a common ground plane from a plurality of image sequences includes detecting at least three observations for each image sequence, generating a plurality of rectified ground planes for the plurality of image sequences, determining a geometric property of the plurality of observations in the plurality of image sequences, determining a relative scaling factor of each of the plurality of rectified ground planes, and generating the common ground plane from the plurality of image sequences based on the rectified ground planes and the determined relative scaling factors.
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Citations
12 Claims
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1. A method of generating a common ground plane from a plurality of image sequences, each image sequence captured by a corresponding one of a plurality of cameras, said plurality of cameras having disjoint fields of view of a scene, said method comprising the steps of:
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detecting at least three observations for each image sequence; generating a plurality of rectified ground planes for the plurality of image sequences, said generation being based on a scene geometry and a spatial property of each corresponding camera determined from said detected observations in each of the image sequences; determining a geometric property of the plurality of observations in the plurality of image sequences; determining a relative scaling factor of each of said plurality of rectified ground planes, said relative scaling factor based on the geometric property of the plurality of objects in the images and the spatial property of each camera; and generating the common ground plane from the plurality of image sequences based on said rectified ground planes and said determined relative scaling factors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer readable storage medium having recorded thereon a computer program for directing a processor to execute a method of generating a common ground plane from a plurality of image sequences, each image sequence captured by a corresponding one of a plurality of cameras, said plurality of cameras having disjoint fields of view of a scene, said computer program comprising code for performing the steps of:
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detecting at least three observations for each image sequence; generating a plurality of rectified ground planes for the plurality of image sequences, said generation being based on a scene geometry and a spatial property of each corresponding camera determined from said detected observations in each of the image sequences; determining a geometric property of the plurality of observations in the plurality of image sequences; determining a relative scaling factor of each of said plurality of rectified ground planes, said relative scaling factor based on the geometric property of the plurality of objects in the images and the spatial property associated with each camera; and generating the common ground place from the plurality of image sequences based on said rectified ground planes and said determined relative scaling factors.
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11. A multi-camera system comprising:
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a plurality of cameras having disjoint fields of view of a scene, each camera having a lens system, an associated sensor, and a control module for controlling said lens system and said sensor to capture an image of said scene; a storage device for storing a computer program; and a processor for executing the program, said program comprising; computer program code for generating a common ground plane from a plurality of image sequences captured by said plurality of cameras, each image sequence derived from one of said plurality of cameras, the generating including the steps of; detecting at least three observations for each image sequence; generating a plurality of rectified ground planes for the plurality of image sequences, said generation being based on a scene geometry and a spatial property of each corresponding camera determined from said detected observations in each of the image sequences; determining a geometric property of the plurality of observations in the plurality of image sequences; determining a relative scaling factor of each of said plurality of rectified ground planes, said relative scaling factor based on the geometric property of the plurality of objects in the images and the spatial property associated with each camera; and generating the common ground plane from the plurality of image sequences based on said rectified ground planes and said determined relative scaling factors.
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12. A multi-camera system comprising:
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a plurality of cameras having disjoint fields of view of a scene, each camera having a lens system, an associated sensor, and a control module for controlling said lens system and said sensor to capture a respective image sequence of said scene; a computer server coupled to each of said plurality of cameras, said server including; a storage device for storing a computer program; and a processor for executing the program, said program comprising; computer program code for generating a common ground plane from a plurality of image sequences captured by said plurality of cameras, each image sequence derived from one of said plurality of cameras, the generating including the steps of; detecting at least three observations for each image sequence; generating a plurality of rectified ground planes for the plurality of image sequences, said generation being based on a scene geometry and a spatial property of each corresponding camera determined from said detected observations in each of the image sequences; determining a geometric property of the plurality of observations in the plurality of image sequences; determining a relative scaling factor of each of said plurality of rectified ground planes, said relative scaling factor based on the geometric property of the plurality of objects in the images and the spatial property associated with each camera; and generating the common ground plane from the plurality of image sequences based on said rectified ground planes and said determined relative scaling factors.
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Specification