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US 11,238,613 B2Granted
Dynamical camera calibration
AssigneeDassault Systemes
InventorFivos Doganis
Life of this patent
Estimating the term…
Abstract
A computer-implemented method of calibrating a camera includes: a. making a video screen display a calibration pattern; b. acquiring from the camera a video stream of a scene comprising said calibration pattern; c. determining a modified calibration pattern depending on the acquired video stream, and making the screen display it; said steps a. to c. being iterated a plurality of times; and then d. estimating intrinsic calibration parameters of the camera by processing the acquired video streams. A computer program product, computer-readable data-storage medium and computer system for carrying out such a method.
Claims16
A computer-implemented method of calibrating a camera, comprising the steps of:
- a. making a video screen (100) display a calibration pattern (1000);
- b. acquiring from the camera (101) a video stream of a scene comprising said calibration pattern displayed on the video screen;
- c. determining whether an image of the calibration pattern of the acquired video stream has to be discarded due to an inappropriate position of said calibration pattern displayed on the video screen and, in the case of discarding the image, modifying the content of the calibration pattern displayed on the video screen (1001, 1002, 1003) in such a way that an image of the modified calibration pattern displayed on the video screen and acquired with the same positioning is usable for calibration, and-making the screen display the modified calibration pattern;
- said steps a. to c. being iterated a plurality of times;
- and then
- d. when enough data has been collected, estimating intrinsic calibration parameters of the camera by processing the acquired video streams.
3 more elements
A computer program product comprising:
- a non-transitory computer-readable data-storage medium (M1, M2, M3, M4);
- and
- computer-executable instructions embodying camera calibration and stored on the non-transitory computer-readable data-storage medium, the computer-executable instructions including instructions that cause a computer system to:
- a. make a video screen display a calibration pattern;
- b. acquire from a camera a video stream of a scene comprising said calibration pattern displayed on the video screen;
- c. determine whether an image of the calibration pattern of the acquired video stream has to be discarded due to an inappropriate position of said calibration pattern displayed on the video screen and, in the case of discarding the image, modify the content of the calibration pattern displayed on the video screen (1001, 1002, 1003) in such a way that an image of the modified calibration pattern displayed on the video screen and acquired with the same positioning is usable for calibration, and make the screen display the modified calibration pattern;
- said steps a. to c. being iterated a plurality of times;
- and then
- d. when enough data has been collected, estimate intrinsic calibration parameters of the camera by processing the acquired video streams and resulting in calibrating the camera.
6 more elements
A non-transitory computer-readable data-storage medium (M1, M2, M3, M4) comprising:
- memory holding computer-executable instructions that cause a computer system to calibrate a camera by:
- a. making a video screen display a calibration pattern;
- b. acquiring from the camera a video stream of a scene comprising said calibration pattern displayed on the video screen;
- c. determining whether an image of the calibration pattern of the acquired video stream has to be discarded due to an inappropriate position of said calibration pattern displayed on the video screen and, in the case of discarding the image, modifying the content of the calibration pattern displayed on the video screen (1001, 1002, 1003) in such a way that an image of the modified calibration pattern displayed on the video screen and acquired with the same positioning is usable for calibration, and making the screen display the modified calibration pattern;
- said steps a. to c. being iterated a plurality of times;
- and then
- d. when enough data has been collected, estimating intrinsic calibration parameters of the camera by processing the acquired video streams.
4 more elements
A computer system comprising:
- a processor coupled to a memory and a graphical user interface, the memory storing computer-executable instructions that cause the computer system to:
- a. make a video screen display a calibration pattern;
- b. acquire from a subject camera a video stream of a scene comprising said calibration pattern displayed on the video screen;
- c. determine whether an image of the calibration pattern of the acquired video stream has to be discarded due to an inappropriate position of said calibration pattern displayed on the video screen and, in the case of discarding the image, modify the content of the calibration pattern displayed on the video screen (1001, 1002, 1003) in such a way that an image of the modified calibration pattern displayed on the video screen and acquired with the same positioning is usable for calibration, and making the screen display the modified calibration pattern;
- said steps a. to c. being iterated a plurality of times;
- and then
- d. when enough data has been collected, estimate intrinsic calibration parameters of the camera by processing the acquired video streams, and calibrate the camera.
4 more elements
Dependencies are inferred from the claim text.