# US 11,910,089 B2 · Point of view aberrations correction in a scanning folded camera > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,910,089 B2 - Document ID: US11910089B2 - Status: Granted - Kind: B2 - Application number: 17/633,204 - Filed: 2021-07-13 - Published: 2023-04-27 - Granted: 2024-02-20 - Earliest claimed: 2020-07-15 - Assignees: Corephotonics Lid. - Applicants: Corephotonics Ltd. - Inventors: Itamar Azoulai; Gal Safra; Anat Werbner; Ela Yehudayi; Paz Ilan; Nadav Geva; Noy Cohen; Gal Shabtay; Ephraim Goldenberg; Ruthy Katz - Web page: https://patentgrep.com/patent/US11910089B2 ## CPC - G03B 37/02: with scanning movement of lens or cameras - H04N 23/683: {performed by a processor, e.g. controlling the readout of an image memory} - G02B 7/1805: {for prisms (G02B7/181 takes precedence)} - G02B 13/02: Telephoto objectives, i.e. systems of the type + - in which the distance from the front vertex to the image plane is less than the equivalent focal length - G02B 27/0025: {for optical correction, e.g. distorsion, aberration} - G02B 27/0081: {with means for altering, e.g. enlarging, the entrance or exit pupil} - G02B 27/646: {compensating for small deviations, e.g. due to vibration or shake (movement of one or more optical elements for control of motion blur in cameras, projectors or printers G03B2205/0007; image stabilisation in cameras peculiar to the presence or use of an electronic image sensor H04N23/68)} - G03B 5/00: Adjustment of optical system relative to image or object surface other than for focusing - G06T 3/40: Scaling of whole images or parts thereof, e.g. expanding or contracting - G06T 5/80: Geometric correction - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - H04N 23/45: for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images - H04N 23/681: {Motion detection} - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - H04N 23/81: for suppressing or minimising disturbance in the image signal generation - G03B 30/00: Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles - G03B 2205/003: by a prism with variable angle or the like - G06T 2207/30244: Camera pose - H04N 17/002: {for television cameras} - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Systems and methods for correcting point of view (POV) aberrations in scanning folded cameras and multi-cameras including such scanning folded cameras. In a Tele folded camera that includes an optical path folding element (OPFE) and an image sensor, the OPFE is tilted in one or two directions to direct the Tele folded camera towards a POV of a scene, a Tele image or a stream of Tele images is captured from the POV, the Tele image having POV aberrations and the POV aberrations are digitally corrected to obtain an aberration-corrected image or stream of images. ## Claims ### Claim 1 A method comprising: a) providing a Tele folded camera that includes an optical path folding element (OPFE) and an image sensor; b) tilting the OPFE by a rotation angle in one or more directions to direct the Tele folded camera towards a point of view (POV); c) capturing a Tele image from the POV, the Tele image having a POV aberration in the shape of a non-rectangular tetragon introduced by the rotation angle of the OPFE; and d) digitally correcting the Tele image having the POV aberration by applying to the Tele image having the POV aberration a geometric transformation related to the rotation angle of the OPFE to obtain a respective aberration-corrected image, and cropping and scaling the aberration-corrected image to obtain a respective aberration-corrected, cropped and scaled output image that has an output image center (OIC), an output image size and an output image width/height ratio. ### Claim 2 (depends on 1) The method of claim 1, wherein the image sensor has an image sensor center, an active sensor width and an active sensor height, and wherein the OIC coincides with the image sensor center. ### Claim 3 (depends on 1) The method of claim 1, wherein the OIC is selected so that a largest possible rectangular crop image size for a particular output image width/height ratio is achieved. ### Claim 4 (depends on 2) The method of claim 2, wherein the OIC is located less than 10 pixel sizes from an ideal OIC, wherein the ideal OIC is where a particular image point is located at the OIC or an image center is located at the OIC. ### Claim 5 (depends on 2) The method of claim 2, wherein the OIC is located less than a distance of 10% of the active sensor width from an ideal OIC, wherein the ideal OIC is where a particular image point is located at the OIC or an image center is located at the OIC. ### Claim 6 (depends on 1) The method of claim 1, wherein a cropping criterion is selected such that an object-image magnification M of an object across different POVs varies from a constant value by less than 10%. ### Claim 7 (depends on 1) The method of claim 1, wherein steps b and c are repeated to obtain a plurality of Tele images captured at a plurality of POVs, and wherein the OIC is selected such that a plurality of Tele images captured for all possible POVs cover a maximum rectangular area within a scene. ### Claim 8 (depends on 1) The method of claim 1, wherein steps b and c are repeated to obtain a plurality of Tele images captured at a plurality of POVs, and wherein the OIC is selected such that a plurality of Tele images captured for a particular plurality of POVs cover a maximum rectangular area within a scene. ### Claim 9 (depends on 1) The method of claim 1, wherein the geometric transformation uses calibration data captured during a camera calibration process. ### Claim 10 (depends on 1) The method of claim 1, wherein the geometric transformation is a homography transformation. ### Claim 11 A method, comprising: a) providing a Tele folded camera that includes an optical path folding element (OPFE) and an image sensor; b) tilting the OPFE in one or more directions to direct the Tele folded camera towards a plurality of points of view (POVs) of a calibration chart, each POV associated with a respective OPFE position; c) capturing a respective Tele image of the calibration chart at each POV, each Tele image having a respective POV aberration in the shape of a non-rectangular tetragon introduced by the position of the OPFE, wherein the calibration chart includes location identifiers that allow to determine the POV for the given OPFE position from the respective Tele image, wherein the calibration chart includes angular identifiers that allow to determine the POV aberration for the given OPFE position from each Tele image; d) from the respective Tele images of the calibration chart at each POV, deriving calibration data between each POV with its respective POV aberration and the respective OPFE position; and e) using the calibration data to digitally correct the POV aberration of each Tele image by applying to the Tele image having the POV aberration a geometric transformation related to the position of the OPFE, thereby obtaining a respective POV aberration-corrected image. ### Claim 12 (depends on 11) The method of claim 11, wherein the calibration chart is a checkerboard chart. ### Claim 13 (depends on 11) The method of claim 11, wherein the calibration data is represented by a bi-directional function that assigns any OPFE position to a Tele POV and/or its respective POV aberration correction and vice versa. ### Claim 14 (depends on 13) The method of claim 13, wherein the bi-directional function is a polynomial. ### Claim 15 (depends on 11) The method of claim 11, wherein the calibration data is represented by a bi-directional Look-Up-Table that assigns any OPFE position to a Tele POV and/or its respective POV aberration correction and vice versa. ### Claim 16 (depends on 11) The method of claim 11, wherein the calibration data is represented by a Look-Up-Table comprising a plurality of OPFE positions with associated values for Tele POVs and/or their respective POV aberration corrections. ### Claim 17 (depends on 16) The method of claim 16, wherein the plurality of OPFE positions includes more than five OPFE positions. ### Claim 18 (depends on 16) The method of claim 16, wherein the plurality of OPFE positions includes more than 100 OPFE positions. ### Claim 19 (depends on 11) The method of claim 11, further comprising: providing a Wide camera with a field of view FOVW larger than a field of view FOVT of the Tele folded camera; between step d and e, in a first additional step, with a Tele image POV positioned within a respective Wide image FOV at a respective OPFE position associated with the Tele image POV, capturing an additional Tele image of the calibration chart along with capturing a Wide image of the calibration chart; and in a second additional step, using the Tele and Wide images for deriving calibration data between the respective OPFE position, the Tele POV within the respective Wide FOV and the Tele image's POV aberration with respect to the Wide image. ### Claim 20 (depends on 19) The method of claim 19, wherein the first and second additional steps are performed simultaneously. ### Claim 21 (depends on 19) The method of claim 19, wherein all the steps are performed by a same operator. ### Claim 22 (depends on 19) The method of claim 19, wherein steps a-d are performed by a first operator, and wherein the first and second additional steps are performed by a second operator. ### Claim 23 (depends on 19) The method of claim 19, wherein the steps a-d are performed in a time frame of less than 10 s, and wherein the first and second additional steps are performed in a time frame of less than 10 s. ### Claim 24 (depends on 19) The method of claim 19, wherein the first additional step does not include any additional image capture, and wherein the analysis and the deriving of the calibration data includes receiving external calibration data between the Tele folded camera and the Wide camera. ### Claim 25 (depends on 11) The method of claim 11, further comprising: providing a Wide camera with a field of view FOVW larger than a field of view FOVT of the Tele folded camera; receiving external calibration data between the Tele folded camera and the Wide camera; and using the external calibration data to digitally correct the POV aberration of each Tele image. ### Claim 26 (depends on 25) The method of claim 25, wherein the external calibration data is represented by a bi-directional function that assigns any OPFE position to a Tele POV within the Wide FOV and/or the Tele image respective POV aberration correction with respect to the Wide image and vice versa. ### Claim 27 (depends on 25) The method of claim 25, wherein the bi-directional function is a bi-directional polynomial. ### Claim 28 (depends on 25) The method of claim 25, wherein the calibration data is represented by a bi-directional Look-Up-Table that translates any OPFE position to a Tele POV within the Wide FOV and/or the Tele image respective POV aberration correction with respect to the Wide image and vice versa. ### Claim 29 (depends on 25) The method of claim 25, wherein the calibration data is represented by a Look-Up-Table comprising a plurality of OPFE positions with associated values for Tele POVs within the Wide FOV and/or the Tele image respective POV aberration corrections with respect to a Wide image. ### Claim 30 (depends on 29) The method of claim 29, wherein the plurality of OPFE positions includes more than five OPFE positions. ### Claim 31 (depends on 29) The method of claim 29, wherein the plurality of OPFE positions includes more than 100 OPFE positions.