Image distortion correction of a camera with a rolling shutter
AssigneeMobileye Vision Technologies Ltd.
InventorYael Berberian
Life of this patent
Estimating the term…
Abstract
Correcting image distortion during camera motion using a system including a processor and a camera having a rolling shutter. Multiple image frames are captured by the camera equipped with the rolling shutter. The captured image frames include a base image frame and a previous image frame. Multiple time stamps are recorded respectively for multiple corresponding image points in the previous and base image frames. For the corresponding image points, multiple ego-motions are computed responsive to the time stamps of the corresponding image points of the base image frame and the previous image frame to correct the image distortion caused by the rolling shutter.
Claims10
A system for determining a distance to a point from a rolling shutter camera, the system comprising:
- a processor configured to:
- access a first image and a second image of an environment captured by the rolling shutter camera, the first and second images captured while the camera was moving, the first and second images each including a plurality of capture lines, the difference between capture time of respective capture lines of the first and second image being dT;
- detect a point (x1, y1) in a capture line of the first image at a time T1, which is the time when the capture line including y1 was captured in the first image;
- detect a corresponding point (x2, y2) in a capture line of the second image at a time T2, which is the time when the capture line including y2 was captured in the second image, wherein a difference between the time T2 and the time T1 is not equal to dT;
- and
- determine the distance to the point at a time T0, which is different than the time T1 or the time T2.
A method for determining a distance to a point from a rolling shutter camera, the method comprising:
- receiving, from the rolling shutter camera, a first image and a second image of an environment of the rolling shutter camera, captured while the camera was moving, the first and second images each including a plurality of capture lines, the difference between capture time of respective capture lines of the first and second image being dT;
- detecting a point (x1, y1) in a capture line of the first image at a time T1, which is the time when the capture line including y1 was captured in the first image;
- detecting a corresponding point (x2, y2) in a capture line of the second image at a time T2, which is the time when the capture line including y2 was captured in the second image, wherein a difference between the time T2 and the time T1 is not equal to dT;
- and
- determining the distance to the point at a time T0, which is different than the time T1 or the time T2.
Dependencies are inferred from the claim text.