System and method for camera calibration
First Claim
1. A method for calibrating a panoramic camera system that captures overlapping single view images that are seamed together into a panorama, the method comprising:
- capturing a first single view image of a structure, the first single view image including first indicia along an edge of the structure;
capturing a second single view image of the structure, the second single view image including second indicia along the same edge of the structure, wherein the first and second single view images are to be seamed together along the edge; and
adjusting one or more camera parameters for a first camera element within the panoramic camera system and adjusting one or more camera parameters for a second camera element within the panoramic camera system to seam together the first indicia with the second indicia, wherein the first single view image is captured by the first camera element and the second single view image is captured by the second camera element.
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Abstract
A system and method for determining the adjustments that must be made to the individual images recorded by a multi-lens camera so that the images will fit together into a panorama. The camera is placed in the center of a structure, the edges of which have at least one row on indicia. Each camera records an image which includes the indicia along each edge that will be seamed with an edge of another image in order to form a panorama. Each edge of the structure which is along a seam that will be seamed with an edge of another image is recorded by two lenses on the camera. The amount of adjustment required to make the indicia in the two images fit together is then determined. The values of these adjustments are recorded along with an identification of the camera which recorded the images. Subsequent sets of images recorded by this same camera can then be seamed using the same adjustments.
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Citations
15 Claims
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1. A method for calibrating a panoramic camera system that captures overlapping single view images that are seamed together into a panorama, the method comprising:
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capturing a first single view image of a structure, the first single view image including first indicia along an edge of the structure; capturing a second single view image of the structure, the second single view image including second indicia along the same edge of the structure, wherein the first and second single view images are to be seamed together along the edge; and adjusting one or more camera parameters for a first camera element within the panoramic camera system and adjusting one or more camera parameters for a second camera element within the panoramic camera system to seam together the first indicia with the second indicia, wherein the first single view image is captured by the first camera element and the second single view image is captured by the second camera element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for calibrating a panoramic camera system that captures overlapping single view images that are seamed together into a panorama, the method comprising:
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capturing a first single view image of a structure, the first single view image including first indicia along an edge of the structure; capturing a second single view image of the structure, the second single view image including second indicia along the same edge of the structure, wherein the first and second single view images are to be seamed together along the edge; estimating locations of the first indicia; estimating locations of the second indicia; and adjusting one or more camera parameters, attempting to minimize a squared error between the locations of the first indicia and the locations of the second indicia, attempting to make the first indicia coincide with the second indicia.
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11. A method for calibrating a panoramic camera system that captures overlapping single view images that are seamed together into a panorama, the method comprising:
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capturing a first single view image of a structure, the first single view image including first indicia along an edge of the structure, wherein the step of capturing the first single view image comprises a first lens capturing the first single view image, wherein the panoramic camera system comprises a multi-lens camera with first and second lenses; capturing a second single view image of the structure, the second single view image including second indicia along the same edge of the structure, wherein the step of capturing the second single view image comprises the second lens capturing the second single view image and the first and second single view images are to be seamed together along the edge; and adjusting one or more camera parameters to seam together the first indicia with the second indicia. - View Dependent Claims (12)
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13. A computer readable medium containing a software program for implementing a method for calibrating a panoramic camera system that captures overlapping single view images that are seamed together into a panorama, wherein the panoramic camera system comprises a multi-lens camera, a first single view image is captured by a first camera element within the multi-lens camera, and a second single view image is captured by a second camera element within the multi-lens camera the method comprising:
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receiving a first single view image of a structure, the first single view image including first indicia along an edge of the structure; receiving a second single view image of the structure, the second single view image including second indicia along the same edge of the structure, wherein the first and second single view images are to be seamed together along the edge; adjusting camera parameters to seam together the first indicia with the second indicia; recording adjusted parameters for the first camera element along with an identification of the first camera element; and recording adjusted parameters for the second camera element along with an identification of the second camera element. - View Dependent Claims (14, 15)
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Specification