Auto-alignment of image sensors in a multi-camera system
First Claim
Patent Images
1. A computer-implemented method for synchronizing a pair of image sensors, the method comprising:
- capturing an image with each image sensor at a substantially same time, the image sensors having a rolling shutter direction and an overlapping field of view;
correlating the captured image data representative of the overlapping field of view by shifting at least one image by a first number of pixels along the rolling shutter direction such that a measure of difference between pixels of the captured image data representative of the overlapping field of view is substantially minimized;
identifying, by one or more processors, a pixel shift between the captured images based on the first number of pixels; and
calibrating, based on the identified pixel shift, at least one image sensor to synchronize subsequent image capture by the image sensors.
4 Assignments
0 Petitions
Accused Products
Abstract
A pair of cameras having an overlapping field of view is aligned based on images captured by image sensors of the pair of cameras. A pixel shift is identified between the images. Based on the identified pixel shift, a calibration is applied to one or both of the pair of cameras. To determine the pixel shift, the camera applies correlation methods including edge matching. Calibrating the pair of cameras may include adjusting a read window on an image sensor. The pixel shift can also be used to determine a time lag, which can be used to synchronize subsequent image captures.
28 Citations
20 Claims
-
1. A computer-implemented method for synchronizing a pair of image sensors, the method comprising:
-
capturing an image with each image sensor at a substantially same time, the image sensors having a rolling shutter direction and an overlapping field of view; correlating the captured image data representative of the overlapping field of view by shifting at least one image by a first number of pixels along the rolling shutter direction such that a measure of difference between pixels of the captured image data representative of the overlapping field of view is substantially minimized; identifying, by one or more processors, a pixel shift between the captured images based on the first number of pixels; and calibrating, based on the identified pixel shift, at least one image sensor to synchronize subsequent image capture by the image sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A system comprising a pair of cameras, each camera having an image sensor, the system further comprising at least one processor and a non-transitory computer readable medium comprising instructions for synchronizing the image sensors, the instructions executable by the at least one processor, the instructions comprising instructions for:
-
capturing an image with each image sensor at a substantially same time, the image sensors having a rolling shutter direction and an overlapping field of view; correlating the captured image data representative of the overlapping field of view by shifting at least one image by a first number of pixels along the rolling shutter direction such that a measure of difference between pixels of the captured image data representative of the overlapping field of view is substantially minimized; identifying, by one or more processors, a pixel shift between the captured images based on the first number of pixels; and calibrating, based on the identified pixel shift, at least one image sensor to synchronize subsequent image capture by the image sensors. - View Dependent Claims (11, 12, 13, 14, 15)
-
-
16. A non-transitory computer-readable medium comprising instructions for synchronizing a pair of image sensors, the instructions executable by at least one processor, the instructions comprising instructions for:
-
capturing an image with each image sensor at a substantially same time, the image sensors having a rolling shutter direction and an overlapping field of view; correlating the captured image data representative of the overlapping field of view by shifting at least one image by a first number of pixels along the rolling shutter direction such that a measure of difference between pixels of the captured image data representative of the overlapping field of view is substantially minimized; identifying, by one or more processors, a pixel shift between the captured images based on the first number of pixels; and calibrating, based on the identified pixel shift, at least one image sensor to synchronize subsequent image capture by the image sensors. - View Dependent Claims (17, 18, 19, 20)
-
Specification