Three-dimensional calibration using orientation and position sensitive calibration pattern
First Claim
1. A method, comprising:
- positioning a calibration pattern relative to one or more cameras, the calibration pattern having a plurality of sub-areas, each sub-area being unique within the calibration pattern;
capturing images using the one or more cameras, each image containing at least one of the sub-areas of the calibration pattern;
determining image data corresponding to each image and calibration data corresponding to the calibration pattern; and
calibrating the one or more cameras based on the image data and the calibration data.
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Abstract
Systems and methods using an orientation/position-sensitive calibration pattern for three-dimensional calibration of an imaging system, such as one used in a process for scanning documents are disclosed. The method generally includes positioning the pattern on a support, capturing images using cameras to be calibrated, each image containing at least a unique orientation and position sensitive sub-area of the pattern, determining a set of coordinate pairs of corresponding points in the image and the pattern for each image utilizing image data and pattern information, and performing optimization utilizing the sets of coordinate pairs to calibrate relative position, orientation, zoom, and/or lens distortion, etc. of each camera so as to construct a three-dimensional camera calibration model. The pattern is generally comprised of overlapping sub-areas of a minimum portion of the pattern.
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Citations
25 Claims
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1. A method, comprising:
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positioning a calibration pattern relative to one or more cameras, the calibration pattern having a plurality of sub-areas, each sub-area being unique within the calibration pattern; capturing images using the one or more cameras, each image containing at least one of the sub-areas of the calibration pattern; determining image data corresponding to each image and calibration data corresponding to the calibration pattern; and calibrating the one or more cameras based on the image data and the calibration data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer program product embodied on a non-transitory computer readable medium, the computer program product including instructions that, when executed by a processor, cause the processor to perform actions comprising:
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receiving image data corresponding to captured images of a calibration pattern, the calibration pattern being positioned on a support relative to one or more cameras that are used to capture the images and having a plurality of sub-areas, each sub-area being unique within the calibration pattern, each image containing at least one of the sub-areas of the calibration pattern; determining image data corresponding to each image and calibration data corresponding to the calibration pattern; and calibrating the one or more cameras based on the image data and the calibration data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A system, comprising:
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one or more cameras to be calibrated; a calibration pattern that is positioned relative to the one or more cameras, the calibration pattern having a plurality of sub-areas, each sub-area being unique within the calibration pattern, the one or more cameras capturing images of the calibration pattern, each image containing at least one of the sub-areas of the calibration pattern; and a processor processing the images and the calibration pattern to determine image data corresponding to each image and calibration data corresponding to the calibration pattern, and to calibrate the one or more cameras based on the image data and the calibration data. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification