Method for globally aligning multiple projected images
First Claim
1. A method for forming a cluster from a set of projectors, each projector in the set including a projector sub-system in a fixed physical relationship to a camera sub-system, and a communication sub-system for sending and receiving messages, comprising:
- receiving a calibrate message in each projector using the communications sub-system;
broadcasting a ready message from each projector using the communications sub-system in response to the calibrate message;
projecting sequentially in each projector a structured pattern on a display surface using the projector sub-system;
acquiring sequentially in each projector an input image of the structured pattern using the camera sub-system; and
aligning globally the projectors with each other and the display surface according to the input images.
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Abstract
A method forms a cluster from a set of projectors. Each projector in the set includes a projector sub-system in a fixed physical relationship to a camera sub-system, and a communication sub-system for sending and receiving messages. A calibrate message is received in the projectors via the communications sub-system. A ready message is broadcast by the projectors using the communications sub-system. A structured pattern is projected sequentially by each of the projectors on a display surface using the projector sub-system. An input image of the structured pattern is acquired sequentially by each of the projectors using the camera sub-system. The projectors are globally aligned with each other and the display surface according to the input images.
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Citations
16 Claims
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1. A method for forming a cluster from a set of projectors, each projector in the set including a projector sub-system in a fixed physical relationship to a camera sub-system, and a communication sub-system for sending and receiving messages, comprising:
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receiving a calibrate message in each projector using the communications sub-system;
broadcasting a ready message from each projector using the communications sub-system in response to the calibrate message;
projecting sequentially in each projector a structured pattern on a display surface using the projector sub-system;
acquiring sequentially in each projector an input image of the structured pattern using the camera sub-system; and
aligning globally the projectors with each other and the display surface according to the input images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
placing the projectors so that a union of the structured light patterns and the input images form a polygon.
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3. The method of claim 1 wherein for a particular structured pattern a subset of the projectors acquire the image.
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4. The method of claim 1 wherein the aligning is performed concurrently in the set of projectors.
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5. The method of claim 1 wherein the structured pattern is a checkerboard pattern.
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6. The method of claim 1 further comprising:
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locating a largest rectangle inside the polygon; and
compositing a single perceived display image from a plurality output images in the largest rectangle according to the global alignment.
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7. The method of claim 1 wherein the set of projectors is heterogeneous.
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8. The method of claim 7 wherein the projectors have different display characteristics.
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9. The method of claim 8 wherein the different display characteristics include intensity, aspect ratio and pixel resolution.
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10. The method of claim 1 wherein the display surface has a quadric order.
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11. The method of claim 1 further comprising:
determining a plurality of homographies, each homography for transferring the structured pattern from one projector into the input image of another projector.
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12. The method of claim 11 further comprising:
assigning a confidence value to each homography.
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13. The method of claim 12 wherein the confidence value is related to a percentage of overlap between the structured image of the one projector and the input image of the other projector on the display surface.
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14. The method of claim 13 wherein the confidence value is a ratio of a number of features of the structured pattern of the one projector acquired in the input image of the other projector to a total number of features in the pattern of the one projector.
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15. The method of claim 6 further comprising:
aligning the single perceived display image with a horizontal axes and a vertical axes of the display surface.
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16. The method of claim 12 further comprising:
determining a global homography for transferring an output image from the one projector to a global reference frame.
Specification