Method and arrangement for multi-camera calibration
First Claim
1. A method for determining calibration data for at least two cameras (camera1, camera2) in a multi view position, said method including the steps of:
- determining respective parameters ((h100 . . . h122 )), (h200, . . . h222)) for identifying at least one respective homographic transformation on respective images (image1,image2) taken by said cameras of a same scene, by performing respective geometry analyses on said respective images (image1, image2); and
performing at least one respective homographic transformation on said respective images and a respective feature detection step on respective transformed images thereby obtaining respective sets (feature set1, feature set2) of features on said respective transformed images, such that said calibration data are obtained from matches (ml,..,mk) determined between said respective sets of features.
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Accused Products
Abstract
A method for determining calibration data for at least two cameras (camera1, camera2) in a multi view position, includes a step of determining respective parameters ((h100, . . . , h122), (h200, . . . , h222)) for identifying at least one respective homographic transformation on respective images (image1,image2) taken by said cameras of a same scene, by performing respective geometry analyses on said respective images (image1, image2), a step of performing at least one respective combined homographic transformation/feature detection step on said respective images thereby obtaining respective sets (feature set1, feature set2) of features on respective transformed images, such that said calibration data are obtained from matches (ml, . . . , mk) determined between said respective sets of features.
13 Citations
20 Claims
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1. A method for determining calibration data for at least two cameras (camera1, camera2) in a multi view position, said method including the steps of:
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determining respective parameters ((h100 . . . h122 )), (h200, . . . h222)) for identifying at least one respective homographic transformation on respective images (image1,image2) taken by said cameras of a same scene, by performing respective geometry analyses on said respective images (image1, image2); and performing at least one respective homographic transformation on said respective images and a respective feature detection step on respective transformed images thereby obtaining respective sets (feature set1, feature set2) of features on said respective transformed images, such that said calibration data are obtained from matches (ml,..,mk) determined between said respective sets of features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A device for determining calibration data for at least two cameras (camera1, camera2) in a multi view position, said device adapted to perform the steps of:
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determining respective parameters ((h100 . . . h122), (h200, . . . h222)) for identifying at least one respective homographic transformation on respective images (image1,image2) taken by said cameras of a same scene, by performing respective geometry analyses on said respective images (image1, image2) ; and performing at least one respective homographic transformation on said respective images and a respective feature detection step on respective transformed images thereby obtaining respective sets (feature set1, feature set2) of features on said respective transformed images, such that said calibration data are obtained from matches (ml,..,mk) determined between said respective sets of features. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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13. A computer program product comprising a non-transitory computer usable medium having computer usable program code stored therein, said computer program product when executed performs the following process:
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determining respective parameters ((h100 . . . h122) (h200, . . . h222)) for identifying at least one respective homographic transformation on respective images (image1,image2) taken by said cameras of a same scene, by performing respective geometry analyses on said respective images (image1, image2) ; and performing at least one respective homographic transformation on said respective images and a respective feature detection step on respective transformed images thereby obtaining respective sets (feature set1, feature set2) of features on said respective transformed images, such that said calibration data are obtained from matches (ml, . . . ,mk) determined between said respective sets of features.
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Specification