HOMOGRAPHY RECTIFICATION
First Claim
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1. A machine vision system comprising:
- a processor configured to run a computer program stored in memory that is configured to cause the processor to;
receive a distorted image and a homography matrix associated with the distorted image;
determine, using a homography decomposition module, a first transform and a second transform that collectively represent the homography matrix,wherein the first transform relates the distorted image to an intermediate image, and the second transform relates the intermediate image to a rectified image,wherein the first transform is constrained to map pixels along a first dimension of the intermediate image to locations along a first dimension of the distorted image, and wherein the locations along the first dimension of the distorted image are separated by a same distance from adjacent locations along the first dimension of the distorted image;
generate, using a homography removal module, the intermediate image by removing the first transform from the distorted image; and
generate, using the homography removal module, the rectified image by removing the second transform from the intermediate image.
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Abstract
The present disclosure provides a multi-stage image mapping mechanism for mapping a distorted image to a rectified image. For example, the multi-stage image mapping mechanism can remove homography from a distorted image to reconstruct a rectified image in two-stages: (1) a first stage in which distortion is partially removed from a distorted image to generate an intermediate image, and (2) a second stage in which residual distortion is removed from the intermediate image to recover the rectified image.
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Citations
20 Claims
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1. A machine vision system comprising:
a processor configured to run a computer program stored in memory that is configured to cause the processor to; receive a distorted image and a homography matrix associated with the distorted image; determine, using a homography decomposition module, a first transform and a second transform that collectively represent the homography matrix, wherein the first transform relates the distorted image to an intermediate image, and the second transform relates the intermediate image to a rectified image, wherein the first transform is constrained to map pixels along a first dimension of the intermediate image to locations along a first dimension of the distorted image, and wherein the locations along the first dimension of the distorted image are separated by a same distance from adjacent locations along the first dimension of the distorted image; generate, using a homography removal module, the intermediate image by removing the first transform from the distorted image; and generate, using the homography removal module, the rectified image by removing the second transform from the intermediate image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computerized method comprising:
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receiving, at a homography decomposition module, a homography matrix associated with a distorted image; determining, using the homography decomposition module, a first transform and a second transform that collectively represent the homography matrix, wherein the first transform relates the distorted image to an intermediate image, and the second transform relates the intermediate image to a rectified image, wherein the first transform is constrained to map pixels along a first dimension of the intermediate image to locations along a first dimension of the distorted image, and wherein the locations along the first dimension of the distorted image are separated by a same distance from adjacent locations along the first dimension of the distorted image; generating, using a homography removal module coupled to the homography decomposition module, the intermediate image by removing the first transform from the distorted image; and generating, using the homography removal module, the rectified image by removing the second transform from the intermediate image. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A non-transitory computer readable medium having executable instructions associated with a homography decomposition module and a homography removal module, operable to cause a machine vision system to:
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receive a homography matrix associated with a distorted image; determine a first transform and a second transform that collectively represent the homography matrix, wherein the first transform relates the distorted image to an intermediate image, and the second transform relates the intermediate image to a rectified image, wherein the first transform is constrained to map pixels along a first dimension of the intermediate image to locations along a first dimension of the distorted image, and wherein the locations along the first dimension of the distorted image are separated by a same distance from adjacent locations along the first dimension of the distorted image; generate the intermediate image by removing the first transform from the distorted image; and generate the rectified image by removing the second transform from the intermediate image.
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Specification