WIDE FOV CAMERA IMAGE CALIBRATION AND DE-WARPING
First Claim
1. A method for calibrating and de-warping a camera, said method comprising:
- estimating a focal length of the camera;
estimating an image center of an image plane of the camera;
providing an angular distortion model that defines an angular relationship between an incident optical ray passing an object point in an object space and an image point on the image plane that is an image of the object point on the incident optical ray; and
estimating distortion parameters in the distortion model.
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Accused Products
Abstract
A system and method for providing calibration and de-warping for ultra-wide FOV cameras. The method includes estimating intrinsic parameters such as the focal length of the camera and an image center of the camera using multiple measurements of the near optical axis object points and a pinhole camera model. The method further includes estimating distortion parameters of the camera using an angular distortion model that defines an angular relationship between an incident optical ray passing an object point in an object space and an image point on an image plane that is an image of the object point on the incident optical ray. The method can include a parameter optimization process to refine the parameter estimation.
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Citations
20 Claims
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1. A method for calibrating and de-warping a camera, said method comprising:
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estimating a focal length of the camera; estimating an image center of an image plane of the camera; providing an angular distortion model that defines an angular relationship between an incident optical ray passing an object point in an object space and an image point on the image plane that is an image of the object point on the incident optical ray; and estimating distortion parameters in the distortion model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for calibrating and de-warping a wide view or ultra-wide view vehicle camera, said method comprising:
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estimating a focal length and an image center of an image plane of the camera, wherein estimating a focal length and an image center of an image plane of the camera includes mounting the camera to a translational stage and moving the camera along the stage to different locations, mounting a checkerboard target to a target stage positioned relative to the translational stage, defining a target region on the target around an optical axis of the camera that includes squares in the checkerboard target and using the pinhole camera model and positions of corners of the squares in images acquired at the different locations along the stage to determine the focal length and the image center; providing an angular distortion model that defines an angular relationship between an incident optical ray passing an object point in an object space and an image point on the image plane that is an image of the object point on the incident optical ray; and estimating distortion parameters in the distortion model, wherein estimating distortion parameters includes mounting the camera to a two-axis rotational stage that rotates the camera in two perpendicular rotational directions and calculating a combined angle based on the combination of the two rotational angles. - View Dependent Claims (17, 18, 19)
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20. A system for calibrating and a de-warping a camera, said system comprising:
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means for estimating a focal length of the camera; means for estimating an image center of an image plane of the camera; means for providing an angular distortion model that defines an angular relationship between an incident optical ray passing an object point in an object space and an image point on the image plane that is an image of the object point on the incident optical ray; and means for estimating distortion parameters in the distortion model.
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Specification