Calibrating imaging devices
First Claim
Patent Images
1. A method for calibrating an imaging device to a reference coordinate system, the method comprising:
- locating a plurality of elongated members extending substantially though a housing that detectably reflect an acoustic signal regardless of incidence angle or placement of signal source with respect to the members at known positions with respect to a reference coordinate system;
obtaining a plurality of images taken from different directions directed along the elongated members and comprising cross-sectional representations of the elongated members; and
calibrating the imaging device to the reference coordinate system based at least in part on the plurality of images by (i) determining the centers of one or more of the members within each representation and (ii) relating the coordinates of the members to the reference coordinate system based on the determined centers.
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Abstract
Methods and apparatus for calibrating images and imaging devices to common coordinate systems utilize, in some embodiments, rods that detectably reflect an acoustic signal regardless of the incidence angle of the signal with respect to the rods. Typically, the rods are disposed within a “phantom” at known positions with respect to a room coordinate system. Images of the cylindrical rods may be obtained from different directions, allowing the imaging device to be calibrated to the room coordinate system.
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Citations
46 Claims
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1. A method for calibrating an imaging device to a reference coordinate system, the method comprising:
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locating a plurality of elongated members extending substantially though a housing that detectably reflect an acoustic signal regardless of incidence angle or placement of signal source with respect to the members at known positions with respect to a reference coordinate system; obtaining a plurality of images taken from different directions directed along the elongated members and comprising cross-sectional representations of the elongated members; and calibrating the imaging device to the reference coordinate system based at least in part on the plurality of images by (i) determining the centers of one or more of the members within each representation and (ii) relating the coordinates of the members to the reference coordinate system based on the determined centers. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for calibrating an imaging device to a reference coordinate system, the system comprising:
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a register for receiving a plurality of images imaged from a plurality of locations, the images comprising cross-sectional representations of a plurality of elongated members extending substantially through a housing and having known positions with respect to a reference coordinate system and that detectably reflect an acoustic signal regardless of incidence angle of the signal or placement of the signal source with respect to the members; and a processor, responsive to the images, for calibrating the imaging device to the reference coordinate system by (i) determining the centers of one or more of the members within each representation and (ii) relating the coordinates of the members to the reference coordinate system based on the determined centers. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. An apparatus for calibrating an imaging device to a reference coordinate system, the apparatus comprising:
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a first housing comprising a plurality of elongated members disposed at fixed positions within and extending substantially through the first housing, the fixed positions being registerable to a reference coordinate system and wherein the elongated members detectably reflect an acoustic signal from which the centers of the elongated members may be determined, regardless of incidence angle or placement of the signal source with respect to the members; and a second housing displaced upon the first housing, the second housing comprising a plurality of target areas disposed about the second housing for placement of an imaging device such that images taken by the imaging device from arbitrary positions, when placed at the target areas, comprise representations of the elongated members within the first housing. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A method for calibrating an imaging device to a reference coordinate system, the method comprising:
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locating, at known positions with respect to a reference coordinate system, one or more objects that diffusely reflect an acoustic signal from an imaging device; applying an acoustic signal to the objects without regard to incidence angle or placement of the signal source with respect to the objects to obtain a plurality of images thereof based on diffuse reflection of the signal by the objects; and calibrating the imaging device to the reference coordinate system based at least in part on the plurality of images by (i) determining the centers of one or more of the objects within each representation and (ii) relating the coordinates of the objects to the reference coordinate system based on the determined centers. - View Dependent Claims (43, 44, 45, 46)
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Specification