SYSTEMS, METHODS, AND COMPUTER PROGRAM PRODUCTS FOR RUNTIME ADJUSTMENT OF IMAGE WARPING PARAMETERS IN A MULTI-CAMERA SYSTEM
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Accused Products
Abstract
Methods, systems, and computer program products for determining, without interrupting a video processing pipeline, whether currently used warping parameters are appropriate for a multi-camera system. New warping parameters may be determined, where these parameters cause the images rectified with these new parameters to have the desired geometric properties. This determination may be made without interrupting the video processing pipeline. Warping parameters may be determined, for example, such that the epipolar lines of the two cameras are horizontal and properly aligned, as defined below, and the metric 3D position of a point observed by both cameras can be determined and is accurate.
83 Citations
46 Claims
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1-25. -25. (canceled)
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26. A system for image processing, comprising:
an image processing pipeline that comprises two or more input imaging units rigidly positioned with respect to each other, each with a lens and an imager, wherein for each imaging unit the lens and imager are rigidly positioned with respect to each other and the lens has a focal length that is fixed; a warping module connected to each input imaging unit and configured to receive raw images from the connected input imaging units and to output a rectified image; and a diagnostic module configured to determine if current warping parameters used by the warping module allow the warping module to output images having predetermined geometric or optical properties. - View Dependent Claims (27, 28, 29, 30, 31, 32)
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33. A method of image processing, comprising:
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creating two or more raw images using two or more input imaging units rigidly positioned with respect to each other, each with a lens and an imager, wherein for each imaging unit the lens and imager are rigidly positioned with respect to each other and the lens has a focal length that is fixed; warping the raw images and outputting respective rectified images; and determining if current warping parameters used by said warping module result on warped images that have predetermined geometric or optical properties. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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40. A computer program product for image processing, including at least one non-transitory computer readable medium having computer program logic stored therein, the computer program logic including:
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warping logic to cause a processor to warp raw images that are created by two or more respective input imaging units rigidly positioned with respect to each other, each input imaging unit with a lens and an imager, wherein for each imaging unit the lens and imager are rigidly positioned with respect to each other and the lens has a focal length that is fixed; and
outputting respective rectified images; anddiagnostic logic to cause the processor to determine if current warping parameters used by said warping logic result on warped images that have predetermined geometric or optical properties. - View Dependent Claims (41, 42, 43, 44, 45, 46)
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Specification