Self calibrating stereo camera
First Claim
1. A self calibrating stereo camera comprising:
- first and second spatial transform engines for directly receiving first and second input images, respectively, of an object,the first and second spatial transform engines coupled to a stereo display for outputting, respectively, first and second output images for display to a viewer,a calibration module, coupled to the first and second spatial transform engines, for aligning the first and second output images prior to display,first and second point extracting modules, respectively, receiving the first and second output images, for extracting interest points from each output image; and
a matching points module, coupled to the first and second point extracting modules, for matching the interest points extracted by the first and second point extracting modules,wherein the calibration module determines alignment error between the first and second output images, in response to the interest point matches calculated by the matching points module and wherein the matching points module is configured to use Context-Adaptive Neighborhoods (CANs) of worms to match the interest points extracted from the first and second point extracting modules.
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Abstract
A self calibrating stereo camera includes first and second spatial transform engines for directly receiving first and second images, respectively, of an object. The first and second spatial transform engines are coupled to a stereo display for displaying a fused object in stereo. A calibration module is coupled to the first and second spatial transform engines for aligning the first and second images, prior to display to a viewer. The first and second point extracting modules, respectively, receive the first and second images for extracting interest points from each image. A matching points module is coupled to the first and second point extracting modules for matching the interest points extracted by the first and second point extracting modules. The calibration module determines alignment error between the first and second images, in response to the interest point matches calculated by the matching points module.
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Citations
9 Claims
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1. A self calibrating stereo camera comprising:
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first and second spatial transform engines for directly receiving first and second input images, respectively, of an object, the first and second spatial transform engines coupled to a stereo display for outputting, respectively, first and second output images for display to a viewer, a calibration module, coupled to the first and second spatial transform engines, for aligning the first and second output images prior to display, first and second point extracting modules, respectively, receiving the first and second output images, for extracting interest points from each output image; and a matching points module, coupled to the first and second point extracting modules, for matching the interest points extracted by the first and second point extracting modules, wherein the calibration module determines alignment error between the first and second output images, in response to the interest point matches calculated by the matching points module and wherein the matching points module is configured to use Context-Adaptive Neighborhoods (CANs) of worms to match the interest points extracted from the first and second point extracting modules. - View Dependent Claims (2, 3, 4, 5)
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6. A method of calibrating a stereo camera comprising the steps of:
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calibrating vertical errors between pixels of a first image and corresponding pixels of a second image; correcting the vertical errors between the pixels of the first and second images; spatially transforming the first and second images, after correcting the vertical errors between the pixels of the first and second images, respectively; outputting the spatially transformed first and second images to a display for viewing; extracting interest points from the first and second images; matching the extracted interest points between the first and second images; outputting vertical misalignment distances between the extracted interest points, after matching the extracted interest points; and correcting the vertical errors between the pixels of the first and second images in response to the outputted vertical misalignment distances, wherein matching the extracted interest points includes using belief propagation to match the interest points. - View Dependent Claims (7, 8, 9)
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Specification