METHOD AND SYSTEM FOR SPATIAL CHARACTERIZATION OF AN IMAGING SYSTEM

• US 20150365660A1
• Filed: 06/13/2014
• Published: 12/17/2015
• Est. Priority Date: 06/13/2014
• Status: Active Grant

• Current Assignee: Conduent Business Services, LLC (Conduent, Inc.)
• Original Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Inventors: Wu, Wencheng, Moore, Steven R., Wade, Thomas F., Venable, Dennis L.
• Granted Patent: US 9,542,746 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A configuration system generates a calibration target to be printed, the target including a set of machine-readable and visually-identifiable landmarks and associated location-encoding marks which encode known locations of the landmarks. A plurality of test images of the printed calibration target is acquired by the system from an image capture assembly. Positions of the landmarks in the acquired test images and the location-encoding marks in the acquired test images are detected by the system. The system decodes the locations of the landmarks from the detected location-encoding marks and spatially characterizes the image capture assembly, based on the detected positions of the landmarks in the acquired test images and their decoded known locations.

Claims

1. A configuration system comprising:

a calibration target generation module which generates a spatially-characterized calibration target to be printed, the calibration target comprising a set of machine-readable and visually-identifiable landmarks and associated location-encoding marks which encode known locations of the landmarks;

an image acquisition module which acquires a plurality of test images of the printed calibration target from an associated image capture assembly to be spatially characterized;

a landmark detection module which detects positions of the landmarks in the acquired test images;

an information decoding module which detects the location-encoding marks in the acquired test images and decodes the locations of the landmarks from the detected location-encoding marks;

a spatial characterization module which spatially characterizes the image capture assembly, based on the detected positions of the landmarks in the acquired test images and the respective decoded known locations of the landmarks; and

a processor which implements the calibration target generation module, image acquisition module, landmark detection module, information decoding module, and spatial characterization module.

2. The system of claim 1, wherein the calibration target generation module generates a plurality of sections of the target from a template, the sections being combined to form the target.

3. The system of claim 2, wherein the template provides for an automated update of the location encoding marks for each subsequent section of the plurality of sections.

4. The system of claim 1, wherein the associated image capture assembly comprises at least one of:

a plurality of cameras, each of the cameras capturing at least one of the test images; and

a mechanism for providing a plurality of camera positions for at least one camera of the image capture assembly, each of the camera positions of each of the at least one camera corresponding to one of the test images.

5. The system of claim 1, wherein the spatial characterization module spatially characterizes the image capture assembly by computing relative characteristics of at least two of the test images.

6. The system of claim 5, wherein the computed relative characteristics include an extent of overlap or spacing between respective fields of view for the at least two of the test images.

7. The system of claim 1, wherein the system comprises the image capture assembly.

8. The system of claim 6, wherein the system further comprises a wheeled mobile base, the image capture assembly being carried by the mobile base.

9. The system of claim 1, further comprising a reconfiguration module which computes a reconfiguration for the associated image capture assembly, based on at least one of the spatial characterization of the image capture assembly and an analysis of a mission-specific target.

10. The system of claim 9, wherein the reconfiguration for the associated image capture assembly is computed to modify an extent of overlap or spacing between respective fields of view for at least two of the test images.

11. The system of claim 9, wherein the reconfiguration for the associated image capture assembly includes a modification to at least one of:

a plurality of cameras of the image capture assembly, each of the cameras capturing at least one of the test images, and

a mechanism for providing a plurality of camera positions for at least one camera of the image capture assembly, the positions including a first position and a second position, vertically-spaced from the first position, each of the camera positions of each of the at least one camera corresponding to one of the test images.

12. The system of claim 1, further comprising a mission-specific target generation module which generates an example of at least one printable mission-specific target, the image acquisition module acquiring at least one test images of the mission-specific target from the associated image capture assembly.

13. The system of claim 1, further comprising a mission capability confirmation module which assesses a capability of the associated image capture assembly to perform a mission which includes capture of images of a store display unit.

14. A configuration method comprising:

providing a spatially-characterized calibration target, the calibration target comprising a set of machine-readable, visually-identifiable landmarks and associated location-encoding marks which encode known locations of the landmarks; and

for at least one iteration;

acquiring a plurality of test images of the printed calibration target at a plurality of vertically-spaced positions with an image capture assembly to be spatially characterized,

detecting positions of the landmarks in the acquired test images,

decoding the locations of the landmarks from the detected location-encoding marks detected in the acquired test images, and

with a processor, spatially characterizing the image capture assembly, based on the positions of the landmarks in the acquired test images and the decoded known locations of the landmarks.

15. The method of claim 14, wherein the providing of the spatially-characterized calibration target comprises generating each of a plurality of sections of the target from a template and joining the sections together to form the target.

16. The method of claim 14, wherein the acquiring a plurality of test images of the printed calibration target at a plurality of vertically-spaced positions comprises at least one of:

capturing an image of the test with each of a plurality of cameras of the image capture assembly; and

moving at least one camera of the image capture assembly from a first camera positions having a first field of view;

to a second position with a second field of view, the second field of view being vertically spaced from the first field of view.

17. The method of claim 14, wherein the spatial characterization comprises computing relative characteristics of at least two of the test images, the computing of the relative characteristics optionally including computing an extent of overlap or spacing between respective fields of view for the at least two of the test images.

18. The method of claim 14, further comprising computing a reconfiguration for the image capture assembly, based on the spatial characterization of the image capture assembly.

19. The method of claim 14, wherein the computing of the reconfiguration comprises computing of a reconfiguration predicted to modify an extent of overlap or spacing between respective fields of view for at least two of the test images in a subsequent one of the iterations.

20. The method of claim 14, further comprising generating an example of at least one printable mission-specific target, the image acquisition comprising acquiring at least one test image of the mission-specific target from the image capture assembly.

21. The method of claim 20, further comprising assessing a capability of the associated image capture assembly to perform a mission which includes capture of images of a store display unit based on the acquired at least one test image of the mission-specific target.

22. A method for configuring an imaging system having a plurality of vertically-spaced fields of view comprising:

with a template, generating sections of a calibration target, each of the sections of the calibration target comprising a set of machine-readable and visually-identifiable landmarks and associated location-encoding marks which encode known locations of the landmarks;

joining the sections together to form the calibration target;

acquiring a plurality of test images of the printed calibration target at a plurality of vertically-spaced positions with an image capture assembly;

detecting positions of the landmarks in the acquired test images;

decoding the locations of the landmarks from the detected location-encoding marks detected in the acquired test images;

with a processor, reconfiguring the image capture assembly, based on the positions of the landmarks in the acquired test images and the decoded known locations of the landmarks; and

for the reconfigured image capture assembly, repeating the acquiring of the plurality of test images, detecting positions of the landmarks, and decoding the locations of the landmarks.