Target, method, and system for camera calibration
AssigneeWaymo LLC
InventorsAndreas Wendel, Volker Grabe, Jeremy Dittmer, Zachary Morriss
Life of this patent
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Abstract
The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
Claims20
A target used for calibration, comprising:
- a first pattern of fiducial markers;
- a second pattern of fiducial markers,
- wherein the first pattern is a scaled version of the second pattern, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives;
- and
- one or more panel-identification fiducial markers that uniquely identify the target used for calibration.
A method, comprising:
- recording a calibration image of a target using a camera, wherein the target comprises:
- a first panel having a first arrangement of fiducial markers thereon,
- wherein each of the fiducial markers in the first arrangement is uniquely identifiable among fiducial markers in the first arrangement;
- and
- a second panel, disposed at a first angle relative to the first panel, having a second arrangement of fiducial markers thereon,
- wherein each of the fiducial markers in the second arrangement is uniquely identifiable among fiducial markers in the second arrangement,
- wherein the first arrangement matches the second arrangement, and
- wherein the first panel comprises one or more first-panel-identification fiducial markers that uniquely identify the first panel;
- and
- determining locations and identifications of one or more fiducial markers in the calibration image;
- and
- based on the determined locations and identifications, calibrating the camera.
A system used for calibrating a camera, comprising:
- a target, comprising:
- a first pattern of fiducial markers;
- a second pattern of fiducial markers,
- wherein the first pattern is a scaled version of the second pattern, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives;
- and
- one or more panel-identification fiducial markers that uniquely identify the target;
- and
- a stage configured to translate or rotate the camera with respect to the target.
Dependencies are inferred from the claim text.