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US 10,482,625 B1Granted
Calibration of networked imaging devices to a global color space
AssigneeAmazon Technologies, Inc.
InventorsAmit Adam, Ehud Benyamin Rivlin, Gerard Guy Medioni
Life of this patent
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Abstract
Described is a multiple-imaging device system and process for calibrating each of the imaging devices to a global color space so that image pixel values representative of an imaged object are the same or similar regardless of the imaging device that produced the image data or the lighting conditions surrounding the object.
Claims20
A computer implemented method, comprising:
- under control of one or more computing systems configured with executable instructions,
- receiving, from each of a plurality of cameras, image data produced by the respective camera, each image data including a representation of one or more of a plurality of markers positioned within a materials handling facility, wherein each image data includes a plurality of pixel values;
- determining that a first sum of a number of representations of markers included in the plurality of image data is greater than a second sum of a number of parameters of the plurality of cameras and a number of the plurality of markers;
- determining from pixel values of each image data, a respective intensity value for each representation of each marker in each image data from each of the plurality of cameras;
- determining based on the respective intensity value determined for each representation of each marker in each image data from each of the plurality of cameras, a plurality of parameters for each of the plurality of cameras;
- generating for each camera of the plurality of cameras a respective transformation function based on the parameters for the camera;
- receiving second image data from a first camera of the plurality of cameras, wherein the second image data includes a second plurality of pixel values;
- and
- transforming at least a portion of the pixel values of the second image data according to a first transformation function corresponding to the first camera to produce transformed second image data corresponding to a global color space.
6 more elements
A system, comprising:
- a plurality of imaging devices within a materials handling facility and positioned to obtain image data representative of objects within the materials handling facility;
- one or more processors;
- and
- a memory coupled to the one or more processors and storing program instructions that when executed cause the one or more processor to at least:
- receive first image data from a first imaging device of the plurality of imaging devices, the first image data including a first plurality of pixel values;
- receive a second image data from a second imaging device of the plurality of imaging devices, the second image data including a second plurality of pixel values;
- determine that a number of representations of a marker represented by at least a portion of the first image data and at least a portion of the second image data is greater than or equal to a number of parameters;
- determine from the first plurality of pixel values, a first intensity value for the marker represented by at least a portion of the first image data;
- determine from the second plurality of pixel values, a second intensity value for the marker represented by at least a portion of the second image data;
- determine, based at least in part on the first intensity value for the marker represented in the first image data and the second intensity value for the marker represented in the second image data, a first parameter value for the first imaging device and a second parameter value for the second imaging device;
- determine, based at least in part on the first parameter value, a first transformation function for the first imaging device;
- and
- determine, based at least in part on the second parameter value, a second transformation function for the second imaging device.
10 more elements
A system, comprising:
- a materials handling facility having at least a first lighting condition in a first area within the materials handling facility and a second lighting condition in a second area within the materials handling facility;
- a plurality of imaging devices distributed within the materials handling facility, at least a first imaging device having a first field of view of at least a portion of the first area and at least a second imaging device having a second field of view of at least a portion of the second area;
- an imaging device calibration component in communication with each of the plurality of imaging devices, the imaging device calibration component configured to at least:
- receive from the first imaging device first image data, the first image data including a first plurality of pixel values;
- receive from a second imaging device second image data, the second image data including a second plurality of pixel values;
- determine from the first plurality of pixel values a respective intensity value for each of a first plurality of markers represented in the first image data;
- determine from the second plurality of pixel values a respective intensity value for each of a second plurality of markers represented in the second image data;
- determine that a number of representations of markers in the first plurality of markers and the second plurality of markers is greater than or equal to a number of parameters;
- determine, based at least in part on the respective intensity values for each of the first plurality of markers represented in the first image data and the second plurality of markers represented in the second image data, a respective parameter value for each of a first plurality of parameters of the first imaging device;
- determine, based at least in part on the respective parameter value for each of the first plurality of parameters, a first transformation function for the first imaging device that will transform pixel values of image data from the first imaging device to a global color space;
- receive from the first imaging device third image data including a third plurality of pixel values;
- and
- transform, using the first transformation function, at least a portion of the third plurality of pixel values to produce transformed pixel values according to the global color space.
10 more elements
Dependencies are inferred from the claim text.