Systems and methods for automatic camera calibration
First Claim
1. An automated calibration system comprising:
- a video monitoring device;
a recorder that receives video data from a camera; and
an auto-calibration module that receives historical calibration video data from the video monitoring device and returns output to calibrate the video monitoring device, the output comprising internal parameters, vertical vanishing point, horizontal vanishing line, an equation for a floor, the output providing a model from which objects whose image is captured by the video monitoring device are analyzed.
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Accused Products
Abstract
Camera calibration for a particular camera is automated based on line segments derived from historical data of images passing within that camera'"'"'s view. Objects having a stable history of orientation are selected for conversion to line segments. A model is derived that fits the way most of the objects behave. The model is specific for the camera supplying the historical data and is specific for the location and position of the camera in that location. The model is able to predict how an object would appear at different locations in the scene and can be applied to data collected by that camera in that location in the future. Outputs include internal camera parameters, a vertical vanishing point and horizontal vanishing line, an equation of the floor and height of objects touching the floor relative to the average person height in the calibration video data.
25 Citations
18 Claims
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1. An automated calibration system comprising:
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a video monitoring device; a recorder that receives video data from a camera; and an auto-calibration module that receives historical calibration video data from the video monitoring device and returns output to calibrate the video monitoring device, the output comprising internal parameters, vertical vanishing point, horizontal vanishing line, an equation for a floor, the output providing a model from which objects whose image is captured by the video monitoring device are analyzed. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of calibrating a camera comprising:
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receiving historical video data collected by a camera to be calibrated; generating a model for the camera to be calibrated from the historical video data for a fixed location in which the camera was placed when the historical video data was collected; converting an object of a plurality of moving objects into a set of object lines, wherein each object line of the set of object lines is associated with a length, an orientation, an original object index and time; and calibrating the camera by applying the generated model to video data received from the camera at the fixed location. - View Dependent Claims (9, 10, 11, 12)
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13. A computer readable storage medium comprising computer executable program instructions that when executed:
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receive historical video data for a video monitoring device to be calibrated, the video monitoring device placed in a fixed position in a fixed location; generate a model for the video monitoring device to be calibrated from the historical video data for the fixed position in the fixed location in which the video monitoring device was placed when the historical video data was collected; generate a first approximation of a horizontal vanishing line for an object by selecting a line intersecting end points of lines pairs originating from the object and defining a line through intersection points using a least squares algorithm to determine the first approximation of the horizontal vanishing line; and calibrating the camera by applying the generated model to video data received from the video monitoring device at the fixed location. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification