System and method for advanced lens geometry fitting for imaging devices
First Claim
1. A system comprising:
- a computing device;
a projector comprising a non-planar lens, the projector configured for projection onto a object;
the computing device configured to;
using an initial model of the non-planar lens that relates a position of projected points on the object to pixel points at an image modulator of the projector, determine at least one initial estimate of intrinsic parameters of the projector using the initial model;
determine at least one initial estimate of extrinsic parameters of the projector using the at least one initial estimate of the intrinsic parameters;
iteratively evaluate an error function that includes a comparison between the pixel points and a transformation of the projected points to the pixel points, an initial transformation determined using the at least one initial estimate of the intrinsic parameters and the at least one initial estimate of the extrinsic parameters, and iterative transformations including one or more of;
varying one or more nonlinear terms used in the initial model of the non-planar lens, in one or more iterations;
increasing a number of the one or more nonlinear terms used in the initial model of the non-planar lens, in one or more of the iterations;
varying intrinsic parameters of the projector; and
varying extrinsic parameters of the projector;
when the error function, of one or more iterations, one or more of converges, reaches a minimum, and is less than a threshold value;
store current value of the intrinsic parameters of the projector and the extrinsic parameters of the projector as pose data; and
,control the projector to project images onto the object based on the pose data.
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Abstract
A system and method for advanced lens geometry fitting is provided for projecting images using a projector with a non-planar lens. An initial estimate of intrinsic parameters of the projector can be determined, for example from a list; an initial estimate of extrinsic parameters of the projector can be determined based on the initial estimate of intrinsic parameters. The intrinsic parameters and extrinsic parameters can be optimized together by starting with a simple lens model and iteratively adding nonlinear terms, an error function evaluated at each iteration, for example for each set of intrinsic parameters in the list and the corresponding extrinsic parameters. As the values of the error function converges the optimized intrinsic parameters and the optimized extrinsic parameters can be used to generate images that are projected by the projector.
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Citations
19 Claims
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1. A system comprising:
a computing device;
a projector comprising a non-planar lens, the projector configured for projection onto a object;
the computing device configured to;using an initial model of the non-planar lens that relates a position of projected points on the object to pixel points at an image modulator of the projector, determine at least one initial estimate of intrinsic parameters of the projector using the initial model; determine at least one initial estimate of extrinsic parameters of the projector using the at least one initial estimate of the intrinsic parameters; iteratively evaluate an error function that includes a comparison between the pixel points and a transformation of the projected points to the pixel points, an initial transformation determined using the at least one initial estimate of the intrinsic parameters and the at least one initial estimate of the extrinsic parameters, and iterative transformations including one or more of;
varying one or more nonlinear terms used in the initial model of the non-planar lens, in one or more iterations;
increasing a number of the one or more nonlinear terms used in the initial model of the non-planar lens, in one or more of the iterations;varying intrinsic parameters of the projector; and
varying extrinsic parameters of the projector;when the error function, of one or more iterations, one or more of converges, reaches a minimum, and is less than a threshold value;
store current value of the intrinsic parameters of the projector and the extrinsic parameters of the projector as pose data; and
,control the projector to project images onto the object based on the pose data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
at a computing device in communication with a projector comprising a non-planar lens, the projector configured for projection onto a object; using an initial model of the non-planar lens that relates a position of projected points on the object to pixel points at an image modulator of the projector, determining, at the computing device, at least one initial estimate of intrinsic parameters of the projector using the initial model; determining, at the computing device, at least one initial estimate of extrinsic parameters of the projector using the at least one initial estimate of the intrinsic parameters; iteratively evaluating, at the computing device, an error function that includes a comparison between the pixel points and a transformation of the projected points to the pixel points, an initial transformation determined using the at least one initial estimate of the intrinsic parameters and the at least one initial estimate of the extrinsic parameters, and iterative transformations including one or more of;
varying one or more nonlinear terms used in the initial model of the non-planar lens, in one or more iterations;
increasing a number of the one or more nonlinear terms used in the initial model of the non-planar lens in one or more of the iterations;
varying intrinsic parameters of the projector; andvarying extrinsic parameters of the projector; when the error function, of one or more iterations, one or more of converges, reaches a minimum, and is less than a threshold value;
store current value of the intrinsic parameters of the projector and the extrinsic parameters of the projector as pose data; and
,controlling, at the computing device, the projector to project images onto the object based on the pose data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer-readable medium storing a computer program, wherein execution of the computer program is for:
at a computing device in communication with a projector comprising a non-planar lens, the projector configured for projection onto a object; using an initial model of the non-planar lens that relates a position of projected points on the object to pixel points at an image modulator of the projector, determining, at the computing device, at least one initial estimate of intrinsic parameters of the projector using the initial model; determining, at the computing device, at least one initial estimate of extrinsic parameters of the projector using the at least one initial estimate of the intrinsic parameters; iteratively evaluating, at the computing device, an error function that includes a comparison between the pixel points and a transformation of the projected points to the pixel points, an initial transformation determined using the at least one initial estimate of the intrinsic parameters and the at least one initial estimate of the extrinsic parameters, and iterative transformations including one or more of;
varying one or more nonlinear terms used in the initial model, in one or more iterations;
increasing a number of the one or more nonlinear terms used in the initial model of the non-planar lens in one or more of the iterations;
varying intrinsic parameters of the projector; and
varying extrinsic parameters of the projector;when the error function, of one or more iterations, one or more of converges, reaches a minimum, and is less than a threshold value;
store current value of the intrinsic parameters of the projector and the extrinsic parameters of the projector as pose data; and
,controlling, at the computing device, the projector to project images onto the object based on the pose data.
Specification