Real-time geometry aware projection and fast re-calibration
First Claim
1. At least one non-transitory computer-readable medium storing one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to execute a computer-implemented method for calibrating a projector system comprising a camera and a projector, each being directed toward a display surface, the computer-implemented method comprising:
- obtaining a correspondence that maps a set of projector pixels to a set of the camera pixels via a set of display surface points; and
responsive to the projector being at a different pose;
projecting a set of feature points onto the display surface using the projector, the set of feature points having known projector pixel locations;
capturing at least a portion of the set of feature points using the camera;
detecting a set of detected feature points from the set of feature points;
correlating projector pixels to camera pixels using at least some of the set of detected feature points;
mapping the correlated projector pixels to display surface points from the set of display surface points using the correspondence; and
using the mapped correspondence to obtain a new projection matrix for the projector at the difference pose.
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Accused Products
Abstract
Aspects of the present invention include systems and methods for recalibrating projector-camera systems. In embodiments, systems and methods are able to recalibrate automatically the projector with arbitrary intrinsic and pose, as well as render for arbitrarily desired viewing point. In contrast to previous methods, the methods disclosed herein use the observing camera and the projector to form a stereo pair. Structured light is used to perform pixel-level fine reconstruction of the display surface. In embodiments, the geometric warping is implemented as a direct texture mapping problem. As a result, re-calibration of the projector movement is performed by simply computing the new projection matrix and setting it as a camera matrix. For re-calibrating the new view point, the texture mapping is modified according to the new camera matrix.
26 Citations
19 Claims
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1. At least one non-transitory computer-readable medium storing one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to execute a computer-implemented method for calibrating a projector system comprising a camera and a projector, each being directed toward a display surface, the computer-implemented method comprising:
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obtaining a correspondence that maps a set of projector pixels to a set of the camera pixels via a set of display surface points; and responsive to the projector being at a different pose; projecting a set of feature points onto the display surface using the projector, the set of feature points having known projector pixel locations; capturing at least a portion of the set of feature points using the camera; detecting a set of detected feature points from the set of feature points; correlating projector pixels to camera pixels using at least some of the set of detected feature points; mapping the correlated projector pixels to display surface points from the set of display surface points using the correspondence; and using the mapped correspondence to obtain a new projection matrix for the projector at the difference pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. At least one non-transitory computer-readable medium storing one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to execute a computer-implemented method for calibrating a projector system comprising a camera and a projector, each being directed toward a display surface, the computer-implemented method comprising:
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obtaining a correspondence that maps a set of projector pixels to a set of the camera pixels via a set of display surface points; and responsive to having a view location at a position that is different than a position for the camera; obtaining a new camera projection matrix for the view location; and using the correspondence to compute a new light projection matrix to alter an image projected by the projector. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A computer system for recalibrating a projector system comprising a projector and a camera, the system comprising:
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one or more processors; and one or more non-transitory computer readable media in communication with the one or more processors and having stored thereon a set of instructions executable by the one or more processors, the set of instructions comprising; obtaining a correspondence that maps a set of projector pixels to a set of the camera pixels via a set of display surface points; and responsive to a change of pose of a view location from which an image projected from the projector is viewed by a viewer, using the correspondence to calculate a new camera projection matrix comprising obtaining a translation and a rotation of the view location relative to the camera location; computing a new projection matrix using the translation and the rotation of the view location relative to the camera and using the camera'"'"'s intrinsic parameters; and using the new camera projection matrix to obtain a new light projection matrix for altering an image projected by the projector.
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19. A computer system for recalibrating a projector system comprising a projector and a camera, the system comprising:
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one or more processors; and one or more non-transitory computer readable media in communication with the one or more processors and having stored thereon a set of instructions executable by the one or more processors, the set of instructions comprising; obtaining a correspondence that maps a set of projector pixels to a set of the camera pixels via a set of display surface points; and responsive to a change of pose of the projector, using the correspondence to calculate a new projection matrix comprising projecting a set of feature points onto the display surface using the projector, the set of feature points having known projector pixel locations; capturing at least a portion of the set of feature points using the camera; detecting a set of detected feature points from the set of feature points; correlating projector pixels to camera pixels using at least some of the set of detected feature points; mapping the correlated projector pixels to display surface points from the set of display surface points using the correspondence; and using the mapped correspondence to obtain the new projection matrix for the projector at the difference pose.
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Specification