Registering cameras in a multi-camera imager
First Claim
1. A method of registering a first camera to a second camera of a multi-camera imager (MCI), each camera modeled as a pin hole camera having a center of projection, an optical axis extending from the center of projection, a camera coordinate system having an origin at the center of projection and a Z axis coincident with the optical axis, an image plane intersected by the optical axis at a principal point, and a photosensor comprising pixels on which the camera images scenes, the method comprising:
- operating the first and second cameras to acquire first and second images respectively of a calibration target located at a known position relative to the MCI and comprising fiducials that define at least two lines in the calibration target;
determining at least one angle between two lines defined by images of the fiducials in a projection of the image of the calibration target acquired by at least one of the first and second cameras on the image plane of the camera; and
using the at least one angle to register the first and second cameras to each other.
1 Assignment
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Accused Products
Abstract
A method of registering first and second cameras in a multi-camera imager comprising imaging a calibration target having rows and columns of fiducials with both the first and second cameras and using convergence angles of images of the rows and columns in the images to register the cameras.
39 Citations
20 Claims
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1. A method of registering a first camera to a second camera of a multi-camera imager (MCI), each camera modeled as a pin hole camera having a center of projection, an optical axis extending from the center of projection, a camera coordinate system having an origin at the center of projection and a Z axis coincident with the optical axis, an image plane intersected by the optical axis at a principal point, and a photosensor comprising pixels on which the camera images scenes, the method comprising:
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operating the first and second cameras to acquire first and second images respectively of a calibration target located at a known position relative to the MCI and comprising fiducials that define at least two lines in the calibration target; determining at least one angle between two lines defined by images of the fiducials in a projection of the image of the calibration target acquired by at least one of the first and second cameras on the image plane of the camera; and using the at least one angle to register the first and second cameras to each other. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A multi-camera imager (MCI) comprising:
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first and second cameras each having a center of projection, an optical axis extending from the center of projection and an image plane intersected by the optical axis at a principal point; and a controller configured to; determine a first angle between lines defined by images of features of a scene in a first image that the first camera projects onto the image plane of the first camera and a second angle between lines defined by images of the same features of the scene in a second image that the second camera projects onto the image plane of the second camera; use the first and second angles to determine a relative rotation between the camera coordinate systems of the first and second cameras; and use the relative rotation to register images acquired by one of the first and second cameras to the other of the first and second cameras. - View Dependent Claims (20)
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Specification