Camera calibration using feature identification
First Claim
Patent Images
1. A method to calibrate a camera, the method comprising:
- capturing by the camera a frame of a scene;
performing, by a programmable processor, object classification for multiple objects of multiple object types appearing in the captured frame to determine a respective object type for each of the multiple objects;
determining, by the programmable processor, the respective object type for the each of the multiple objects based on geometrical information, including line orientation information;
identifying, by the programmable processor, salient line features, including at least one of;
one or more line pairs that are parallel or at an angle to each other, one or more lines that are on a plane, and one or more lines that are perpendicular to the plane, for the multiple objects of the multiple object types appearing in the captured frame;
assigning, by the programmable processor, each of the identified salient line features a respective pre-determined value representative of an average physical dimension based on the respectively determined object type for the each of the multiple objects appearing in the captured frame;
deriving, by the programmable processor, multiple constraint terms based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame and the pre-determined values assigned to the identified salient line features; and
determining, by the programmable processor, parameters of the camera that minimize an error function computed using the multiple constraint terms derived based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame.
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Abstract
Disclosed are methods, systems, computer readable media and other implementations, including a method to calibrate a camera that includes capturing by the camera a frame of a scene, identifying features appearing in the captured frame, the features associated with pre-determined values representative of physical attributes of one or more objects, and determining parameters of the camera based on the identified features appearing in the captured frame and the pre-determined values associated with the identified features.
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Citations
21 Claims
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1. A method to calibrate a camera, the method comprising:
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capturing by the camera a frame of a scene; performing, by a programmable processor, object classification for multiple objects of multiple object types appearing in the captured frame to determine a respective object type for each of the multiple objects; determining, by the programmable processor, the respective object type for the each of the multiple objects based on geometrical information, including line orientation information; identifying, by the programmable processor, salient line features, including at least one of;
one or more line pairs that are parallel or at an angle to each other, one or more lines that are on a plane, and one or more lines that are perpendicular to the plane, for the multiple objects of the multiple object types appearing in the captured frame;assigning, by the programmable processor, each of the identified salient line features a respective pre-determined value representative of an average physical dimension based on the respectively determined object type for the each of the multiple objects appearing in the captured frame; deriving, by the programmable processor, multiple constraint terms based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame and the pre-determined values assigned to the identified salient line features; and determining, by the programmable processor, parameters of the camera that minimize an error function computed using the multiple constraint terms derived based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 21)
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13. A system comprising:
- at least one camera to capture frame data; and
one or more processors configured to perform operations to calibrate the at least one camera, the operations comprising;capturing by the at least one camera a frame of a scene; performing object classification for multiple objects of multiple object types appearing in the captured frame to determine a respective object type for each of the multiple objects; determining the respective object type for the each of the multiple objects based on geometrical information, including line orientation information; identifying salient line features, including at least one of;
one or more line pairs that are parallel or at an angle to each other, one or more lines that are on a plane, and one or more lines that are perpendicular to the plane, for the multiple objects of the multiple object types appearing in the captured frame;assigning each of the identified salient line features a respective pre-determined value representative of an average physical dimension based on the respectively determined object type for the each of the multiple objects appearing in the captured frame; deriving multiple constraint terms based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame and the pre-determined values assigned to the identified salient line features; and determining parameters of the camera that minimize an error function computed using the multiple constraint terms derived based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame. - View Dependent Claims (14, 15, 16, 17)
- at least one camera to capture frame data; and
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18. A non-transitory computer readable media programmed with a set of computer instructions executable on a processor that, when executed, cause operations comprising:
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capturing by a camera a frame of a scene; performing object classification for multiple objects of multiple object types appearing in the captured frame to determine a respective object type for each of the multiple objects; determining the respective object type for the each of the multiple objects based on geometrical information, including line orientation information; identifying salient line features, including at least one of;
one or more line pairs that are parallel or at an angle to each other, one or more lines that are on a plane, and one or more lines that are perpendicular to the plane, for the multiple objects of the multiple object types appearing in the captured frame;assigning each of the identified salient line features a respective pre-determined value representative of an average physical dimension based on the respectively determined object type for the each of the multiple objects appearing in the captured frame; deriving multiple constraint terms based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame and the pre-determined values assigned to the identified salient line features; and determining parameters of the camera that minimize an error function computed using the multiple constraint terms derived based on the identified salient line features for the multiple objects of the multiple object types appearing in the captured frame. - View Dependent Claims (19, 20)
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Specification