Method and device for stabilization of a surround view image
AssigneeApplications Solutions (Electronic and Vision) Ltd
InventorsRui Guerreiro, Carlos Silva, Andreas Panakos, Dev Yadav
Life of this patent
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Abstract
A method and a device for image stabilization of an image sequence of one or more cameras of a vehicle are disclosed. Images of the surroundings of the vehicle are recorded and image points of the recorded images are projected to a unit sphere, where the projection includes applying a lens distortion correction. For each of the one or more cameras, a vanishing point is calculated using the projected image points on the unit sphere and a motion of the vanishing point on the unit sphere is tracked. The motion of the vanishing point is used to calculate a corrected projection to a ground plane.
Claims12
A method for image stabilization of an image sequence of one or more cameras of a vehicle, the method comprising:
- recording images of surroundings of the vehicle from one or more cameras of the vehicle;
- projecting image points of the recorded images to a unit sphere, wherein the projection comprises applying a lens distortion correction;
- calculating, for each of the one or more cameras, at least one vanishing point from the projected image points on the unit sphere;
- tracking a motion of the at least one vanishing point;
- and
- using the motion of the at least one vanishing point to calculate a corrected projection to a ground plane;
- applying a lens distortion correction to obtain a corrected image;
- detecting at least two corresponding straight lines in the corrected image;
- deriving a position of a vanishing point of the at least two straight lines on a unit sphere;
- tracking a motion of the vanishing point on the unit sphere;
- deriving a change in orientation of the one or more cameras from the tracked motion of the vanishing point;
- and
- deriving a scaling of the recorded images using the derived change in orientation.
A computer program product stored on a non-transitory computer readable medium for executing a method for image stabilization of an image sequence of one or more cameras of a vehicle, the method comprising:
- recording images of surroundings of the vehicle from one or more cameras of the vehicle;
- projecting image points of the recorded images to a unit sphere, wherein the projection comprises applying a lens distortion correction;
- calculating, for each of the one or more cameras, at least one vanishing point from the projected image points on the unit sphere;
- tracking a motion of the at least one vanishing point;
- and
- using the motion of the at least one vanishing point to calculate a corrected projection to a ground plane;
- applying a lens distortion correction to obtain a corrected image;
- detecting at least two corresponding straight lines in a corrected image;
- deriving a position of a vanishing point of the at least two straight lines on a unit sphere;
- tracking a motion of the vanishing point on the unit sphere;
- deriving a change in orientation of the one or more cameras from the tracked motion of the vanishing point;
- and
- deriving a scaling of the recorded images using the derived change in orientation.
An image correction system for a motor vehicle comprising a computation unit with an input connection for receiving consecutive camera images from one or more cameras, the computation unit comprising an input connection for receiving images of surroundings of a vehicle from one or more cameras of the vehicle and a processing unit that is operative to:
- project image points of the recorded images to a unit sphere, wherein the projection comprises applying a lens distortion correction;
- calculate, for each of the one or more cameras, vanishing points from the projected image points on the unit sphere;
- track a motion of the vanishing points;
- calculate, for each of the one or more cameras, an error in a position of an image plane and filtering the position over time;
- utilize the filtered position to calculate a corrected projection to a ground plane;
- apply a lens distortion correction to obtain a corrected image;
- detect at least two corresponding straight lines in the corrected image;
- derive a position of a vanishing point of the at least two corresponding straight lines on a unit sphere;
- track a motion of the vanishing point on the unit sphere;
- derive a change in orientation of the one or more cameras from the tracked motion of the vanishing point;
- and
- derive a scaling of the recorded images using the derived change in orientation.
Dependencies are inferred from the claim text.