Efficient image transformation
First Claim
Patent Images
1. A machine vision system comprising:
- a processor configured to run a computer program stored in memory that is configured to cause the processor to;
receive a first image and a first transform associated with the first image, wherein the first transform relates the first image to a second image, and is constrained to map a plurality of pixels along a dimension of the second image to a plurality of locations along a dimension of the first image;
determine, for a first pixel of the plurality of pixels, a coordinate of a corresponding first location in the first image;
select one of a plurality of kernels based on a sub-pixel phase associated with the coordinate of the first location, wherein the sub-pixel phase is indicative of a sub-pixel offset of the first location from a pixel grid of the first image; and
generate the second image from the first image by, in part, applying the selected kernel on at least one pixel around the first location in the first image to determine an image value for the first pixel in the second image.
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Abstract
The present disclosure provides a multi-stage image mapping mechanism for mapping a distorted image to a rectified image. For example, the multi-stage image mapping mechanism can remove homography from a distorted image to reconstruct a rectified image in two-stages: (1) a first stage in which distortion is partially removed from a distorted image to generate an intermediate image, and (2) a second stage in which residual distortion is removed from the intermediate image to recover the rectified image.
50 Citations
20 Claims
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1. A machine vision system comprising:
a processor configured to run a computer program stored in memory that is configured to cause the processor to; receive a first image and a first transform associated with the first image, wherein the first transform relates the first image to a second image, and is constrained to map a plurality of pixels along a dimension of the second image to a plurality of locations along a dimension of the first image; determine, for a first pixel of the plurality of pixels, a coordinate of a corresponding first location in the first image; select one of a plurality of kernels based on a sub-pixel phase associated with the coordinate of the first location, wherein the sub-pixel phase is indicative of a sub-pixel offset of the first location from a pixel grid of the first image; and generate the second image from the first image by, in part, applying the selected kernel on at least one pixel around the first location in the first image to determine an image value for the first pixel in the second image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computerized method comprising:
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receiving a first image and a first transform associated with the first image, wherein the first transform relates the first image to a second image, and is constrained to map a plurality of pixels along a dimension of the second image to a plurality of locations along a dimension of the first image; determining, for a first pixel of the plurality of pixels, a coordinate of a corresponding first location in the first image; selecting one of a plurality of kernels based on a sub-pixel phase associated with the coordinate of the first location, wherein the sub-pixel phase is indicative of a sub-pixel offset of the first location from a pixel grid of the first image; and generating the second image from the first image by, in part, applying the selected kernel on at least one pixel around the first location in the first image to determine an image value for the first pixel in the second image. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory computer readable medium having executable instructions associated with a homography decomposition module and a homography removal module, operable to cause a machine vision system to:
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receive a first image and a first transform associated with the first image, wherein the first transform relates the first image to a second image, and is constrained to map a plurality of pixels along a dimension of the second image to a plurality of locations along a dimension of the first image; determine, for a first pixel of the plurality of pixels, a coordinate of a corresponding first location in the first image; select one of a plurality of kernels based on a sub-pixel phase associated with the coordinate of the first location, wherein the sub-pixel phase is indicative of a sub-pixel offset of the first location from a pixel grid of the first image; and generate the second image from the first image by, in part, applying the selected kernel on at least one pixel around the first location in the first image to determine an image value for the first pixel in the second image. - View Dependent Claims (19, 20)
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Specification