Method for high precision lens distortion calibration and removal
First Claim
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1. A method for determining lens distortion parameters for an imaging system comprising a lens and an imaging device, the method comprising:
- capturing an image of a target with a known structure through the lens, the target comprising a known, two-dimensional, planar structure comprising a plurality of control points;
detecting the positions of the plurality of control points in the captured image,performing a Euclidean transform on detected control points,calculating an estimate for the positions of the control points without distortion through a projective transformation of their known structure in conjunction with a distortion model applied to these estimated control points to provide an estimated location for distorted control points,comparing these estimated locations to the Euclidean transformed detected control points while simultaneously refining estimated positions through the projective transformation, the distortion model and the Euclidean transform of the measured control point coordinated, to minimize the difference, andstoring the distortion model once the difference has been minimized.
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Abstract
The present application relates to a high precision method for calibrating and removing distortion from a lens, and more particularly, a method for calibrating and removing distortion by arranging sensor readings to compensate for its presence and simultaneously optimize the resulting image magnification for best image quality.
38 Citations
20 Claims
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1. A method for determining lens distortion parameters for an imaging system comprising a lens and an imaging device, the method comprising:
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capturing an image of a target with a known structure through the lens, the target comprising a known, two-dimensional, planar structure comprising a plurality of control points; detecting the positions of the plurality of control points in the captured image, performing a Euclidean transform on detected control points, calculating an estimate for the positions of the control points without distortion through a projective transformation of their known structure in conjunction with a distortion model applied to these estimated control points to provide an estimated location for distorted control points, comparing these estimated locations to the Euclidean transformed detected control points while simultaneously refining estimated positions through the projective transformation, the distortion model and the Euclidean transform of the measured control point coordinated, to minimize the difference, and storing the distortion model once the difference has been minimized. - View Dependent Claims (2, 3, 4, 5)
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6. A method for determining lens distortion parameters for an imaging system comprising a lens and an imaging device, the method comprising:
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capturing an image of a target with a known structure through the lens, the target comprising a known, two-dimensional, planar structure comprising a plurality of control points; detecting the positions of the plurality of control points in the captured image, estimating positions of detected control points without distortion by applying a Euclidean transform to detected values in conjunction with a distortion model applied to the Euclidean transformed detected values, comparing these estimated points without distortion to the estimated positions of the control points without distortion obtained through projective transformation of their known structure and adjusting parameters of the distortion model, Euclidean transform and estimated values to minimize the difference, and storing the distortion model once the difference has been minimized. - View Dependent Claims (7, 8, 9, 10)
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11. A method for determining lens distortion parameters for an imaging system comprising an imaging device and lens, the method comprising:
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capturing an image of a target through the lens, the target comprising a known, two-dimensional, planar structure comprising a plurality of control points; detecting the positions of the plurality of control points in the captured image, transforming detected positions of the control points into a lens centric coordinate system using a Euclidean Transform and initial transformation values; computing an estimate for the positions of the control points without distortion in conjunction with a distortion model applied to estimated control points to provide an estimated location for distorted control points; and comparing and simultaneously refining estimated positions, the parameters of the distortion model and the initial transformation values to minimize the difference between the estimated positions of the control points and the Euclidean transformed detected positions of the control points, and storing distortion model parameters once the difference has been minimized. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification