Unified calibration between DVS and camera
AssigneeHarman International Industries, Incorporated
InventorRengao Zhou
Life of this patent
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Abstract
A unified calibration method between a DVS and a camera, in which a special calibration board is set up which consists of a calibration grid pattern and LEDs attached to the corners of the calibration grids. The camera finds the corners of calibration grid by capturing the image, and the DVS finds the same corners by detecting the intensity changes of the LEDs at the corners, to establish a unified world coordinate system as a reference coordinate system. After performing the calibration and coordinate system transformations, an extrinsic matrix between the DVS and the camera can be obtained.
Claims20
A method of realizing unified calibration between at least one dynamic vision sensor
- (DVS) and at least one camera, the method comprising the steps of:
- binding the at least one DVS to the at least one camera;
- setting up a calibration board comprising calibration grids and a plurality of high-frequency LEDs, wherein the calibration grids are arranged on a surface of the calibration board, and the plurality of high-frequency LEDs are each attached to corners of the calibration grids;
- arranging the calibration board inside fields of view of both the at least one DVS and the at least one camera, and the surface of the calibration board with the calibration grids facing to the at least one DVS and the at least one camera;
- and enabling the at least one DVS and the at least one camera to detect corners of the calibration grids on the calibration board, respectively;
- wherein the method further comprises the steps of:
- capturing intensity changes to generate event data by the at least one DVS;
- integrating pixels created from the event data into multiple consecutive frames
- of an original calibration board image to determine continuous pixels, and then detecting the locations of the plurality of high-frequency LEDs, and
- calculating an extrinsic matrix between the at least one DVS and the at least one camera.
A system of realizing unified calibration between dynamic vision sensor (DVS) and camera, comprising:
- at least one camera;
- at least one DVS bound to the at least one camera;
- a calibration board comprising calibration grids and a plurality of high-frequency LEDs, wherein the calibration grids are arranged on a surface of the calibration board, and the plurality of high-frequency LEDs are each attached to corners of the calibration grids;
- wherein the calibration board is arranged inside the fields of view of both the at least one DVS and the at least one camera, and the surface with the calibration grids is facing to the at least one DVS and the at least one camera;
- wherein the at least one DVS and the at least one camera are enabled to detect the corners of the calibration grids on the calibration board, respectively;
- and wherein the at least one DVS captures intensity changes to generate event data, and wherein the system further comprises:
- a processing unit coupled to the at least one DVS and the at least one camera, configured to integrate pixels created from the event data into multiple consecutive frames of an original calibration board image, determine continuous pixels from the multiple consecutive frames, detect the locations of the plurality of high-frequency LEDs, and calculate extrinsic matrix between the at least one DVS and the at least one camera.
Dependencies are inferred from the claim text.