Method, apparatus and system for performing geometric calibration for surround view camera solution
First Claim
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1. A multi-camera image processing method, comprising:
- performing a geometric alignment to produce a geometric output, wherein the geometric alignment includes;
estimating fish eye distortion correction parameters;
correcting for fish eye lens distortion based on the fish eye distortion correction parameters;
performing an initial perspective correction on a frame;
performing corner detection in overlapping areas;
locating a corner;
calculating descriptors for features;
matching a feature point from two cameras scores;
performing checks and rejecting feature matches;
finding perspective matrices to minimize a distance between matched features; and
creating a geometric lookup table.
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Abstract
A method, apparatus and a system multi-camera image processing method. The method includes performing geometric alignment to produce a geometric output by estimating fish eye distortion correction parameters, performing initial perspective correction on related frame, running corner detection in the overlapping areas, locating the stronger corner, calculating BRIEF descriptors for features and match feature point from two cameras using BRIEF scores, performing checks and rejecting wrong feature matches, finding perspective matrices to minimize distance between matched features; and creating a geometric lookup table.
43 Citations
20 Claims
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1. A multi-camera image processing method, comprising:
performing a geometric alignment to produce a geometric output, wherein the geometric alignment includes; estimating fish eye distortion correction parameters; correcting for fish eye lens distortion based on the fish eye distortion correction parameters; performing an initial perspective correction on a frame; performing corner detection in overlapping areas; locating a corner; calculating descriptors for features; matching a feature point from two cameras scores; performing checks and rejecting feature matches; finding perspective matrices to minimize a distance between matched features; and creating a geometric lookup table. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An advanced driver assistance (ADAS) system, comprising:
a multi-camera surround view system configured to; perform geometric alignment to produce a geometric output; estimate fish eye distortion correction parameters; correct for fish eye lens distortion based on the fish eye distortion correction parameters; perform initial perspective correction on a frame; perform corner detection in overlapping areas; locate a corner; calculate descriptors for features; match feature point from two cameras scores; perform checks and rejecting feature matches; find perspective matrices to minimize a distance between matched features; and create a geometric lookup table. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
Specification