Distortion-corrected image generation unit and distortion-corrected image generation method
First Claim
1. A distortion-corrected image generation unit that generates a distortion-corrected image by correcting distortion of a distorted image captured using a fish-eye lens, the distortion-corrected image generation unit comprising:
- a distorted image acquisition unit that obtains the distorted image;
an internal parameter storage unit that stores a plurality of sets of internal parameters, related to the fish-eye lens, each of the sets being applied to correct a pixel position in a radially extending direction from an image principal point of the distorted image;
an internal parameter selection unit that selects, on the basis of a radial direction of a pixel position to be corrected in the distorted image obtained by the distorted image acquisition unit from the image principal point, one set of internal parameters to be applied to correct the pixel position to be corrected from the plurality of sets of internal parameters stored in the internal parameter storage unit; and
a distortion-corrected image generator that generates the distortion-corrected image from the distorted image by replacing a pixel value at the pixel position to be corrected with a pixel value at another pixel position on the basis of the set of internal parameters selected by the internal parameter selection unit.
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Abstract
An internal parameter storage unit stores, in advance, a plurality of sets of internal parameters each of which can be applied to correct a pixel position in a direction from an image principal point, i.e., a plurality of sets of internal parameters for accommodating errors of different magnitudes that occur in individual directions from an image principal point. An internal parameter selection unit selects a set of internal parameters from the plurality of sets of internal parameters stored in advance on the basis of the direction of a pixel position to be corrected from the image principal point, and a distortion-corrected image generator corrects distortion on the basis of the selected set of internal parameters, so that, even when a surface of a lens is not exactly parallel to a surface of an image pickup device, distortion is corrected more accurately.
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Citations
18 Claims
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1. A distortion-corrected image generation unit that generates a distortion-corrected image by correcting distortion of a distorted image captured using a fish-eye lens, the distortion-corrected image generation unit comprising:
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a distorted image acquisition unit that obtains the distorted image; an internal parameter storage unit that stores a plurality of sets of internal parameters, related to the fish-eye lens, each of the sets being applied to correct a pixel position in a radially extending direction from an image principal point of the distorted image; an internal parameter selection unit that selects, on the basis of a radial direction of a pixel position to be corrected in the distorted image obtained by the distorted image acquisition unit from the image principal point, one set of internal parameters to be applied to correct the pixel position to be corrected from the plurality of sets of internal parameters stored in the internal parameter storage unit; and a distortion-corrected image generator that generates the distortion-corrected image from the distorted image by replacing a pixel value at the pixel position to be corrected with a pixel value at another pixel position on the basis of the set of internal parameters selected by the internal parameter selection unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for generating a distortion-corrected image by correcting distortion of a distorted image captured using a fish-eye lens, the method comprising:
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obtaining the distorted image; when the distorted image is obtained, referring to an internal parameter storage unit that stores a plurality of sets of internal parameters, related to the fish-eye lens, each of the sets being applied to correct a pixel position in a radially extending direction from an image principal point of the distorted image, and selecting, on the basis of a radial direction of a pixel position to be corrected in the distorted image from the image principal point, one set of internal parameters to be applied to correct the pixel position to be corrected from the plurality of sets of internal parameters stored in the internal parameter storage unit; and when the set of internal parameters is selected, generating the distortion-corrected image from the distorted image by replacing a pixel value at the pixel position to be corrected with a pixel value at another pixel position on the basis of the selected set of internal parameters. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification