Method and system for determining optical distortion in a transparent medium
First Claim
1. System for determining a distortion model for an optically distorting medium, the system comprising:
- a first image sensor located at a first image acquisition position behind said optically distorting medium, said first image sensor acquiring a first obstructed image of an object located substantially at infinity, when said optically distorting medium is located between said first image sensor and said object in a line of sight connecting said first image sensor and said object, said first image sensor acquiring an unobstructed image of said object, when said optically distorting medium is absent from said line of sight; and
an image processor coupled with said first image sensor, said image processor receiving information respective of said first obstructed image and said unobstructed image from said first image sensor, said image processor identifying a plurality of first features in said unobstructed image, and a respective first feature in said first obstructed image for each of said identified first features in said unobstructed image, thereby determining pairs of associated features, said image processor determining a first distortion parameter for each of said pairs of associated features, said image processor determining a reference distortion model for said optically distorting medium, respective of said first image acquisition position, according to said first distortion parameters.
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Abstract
System for determining a distortion model for an optically distorting medium, the system including an image sensor located at an image acquisition position behind the optically distorting medium, and an image processor coupled with the image sensor, the image sensor acquiring an obstructed image of an object located substantially at infinity, when the optically distorting medium is located between the image sensor and the object in a line of sight connecting the image sensor and the object, the image sensor acquiring an unobstructed image of the object, when the optically distorting medium is absent from the line of sight, the image processor receiving information respective of the obstructed image and the unobstructed image from the image sensor, the image processor identifying a plurality of features in the unobstructed image, and a respective feature in the obstructed image for each of the identified features in the unobstructed image, thereby determining pairs of associated features, the image processor determining a distortion parameter for each of the pairs of associated features, the image processor determining a reference distortion model for the optically distorting medium, respective of the image acquisition position, according to the distortion parameters.
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Citations
31 Claims
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1. System for determining a distortion model for an optically distorting medium, the system comprising:
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a first image sensor located at a first image acquisition position behind said optically distorting medium, said first image sensor acquiring a first obstructed image of an object located substantially at infinity, when said optically distorting medium is located between said first image sensor and said object in a line of sight connecting said first image sensor and said object, said first image sensor acquiring an unobstructed image of said object, when said optically distorting medium is absent from said line of sight; and an image processor coupled with said first image sensor, said image processor receiving information respective of said first obstructed image and said unobstructed image from said first image sensor, said image processor identifying a plurality of first features in said unobstructed image, and a respective first feature in said first obstructed image for each of said identified first features in said unobstructed image, thereby determining pairs of associated features, said image processor determining a first distortion parameter for each of said pairs of associated features, said image processor determining a reference distortion model for said optically distorting medium, respective of said first image acquisition position, according to said first distortion parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. Method for determining a distortion model for an optically distorting medium, the method comprising the procedures of:
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identifying a plurality of first features of an object in a first obstructed image of said object, said first obstructed image being acquired from a first image acquisition position behind said optically distorting medium, said object being located substantially at infinity, in front of said optically distorting medium; identifying a respective first feature in an unobstructed image of said object for each of said identified first features, thereby determining pairs of associated features, said unobstructed image being acquired from said first image acquisition position; determining a first distortion parameter for each of said pairs of associated features; and determining a reference distortion model for said optically distorting medium respective of said first image acquisition position, according to said first distortion parameters. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. Method for determining a distortion model for an optically distorting medium, the method comprising the procedures of:
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detecting a first obstructed image of a first feature in a first known target located in front of said optically distorting medium, at a first location, a first finite distance apart from an image sensor located behind said optically distorting medium; determining an obstructed viewing direction respective of said first feature, relative to a horizontal axis, according to said first obstructed image; detecting a second obstructed image of a second feature on a second known target, at substantially the same obstructed viewing direction, said second known target being located at a second location a second finite distance apart from said image sensor, in front of said optically distorting medium; determining a feature pair direction between said first feature and said second feature, according to coordinates of said first feature and said second feature, said first finite distance and said second finite distance; and determining said distortion model, according to said obstructed viewing direction and said feature pair direction. - View Dependent Claims (29, 30, 31)
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Specification