Method and apparatus for rolling shutter compensation
AssigneeQUALCOMM Incorporated
InventorDaniel Wagner
Life of this patent
Estimating the term…
Abstract
Disclosed are a system, apparatus, and method for rolling shutter compensation. An image having a plurality of scanlines captured at different times may be received from a rolling shutter camera where each scanline includes a plurality of 2D pixels, and where each scanline has an associated camera pose. One or more 2D pixels in a first scanline of the received image to 3D coordinates may be unprojected and the 3D coordinates may be transformed from the first scanline to a reference pose. The transformed 3D coordinates may be reprojected, and in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline may be provided.
Claims24
A method to correct rolling shutter artifacts, the method comprising:
- receiving, from a rolling shutter camera, an image having a plurality of scanlines captured at different times, wherein each scanline includes a plurality of 2D pixels, and wherein each scanline has an associated camera pose;
- unprojecting, one or more 2D pixels in a first scanline of the received image to 3D coordinates;
- transforming the 3D coordinates from the first scanline to a reference pose;
- reprojecting the transformed 3D coordinates;
- and
- providing, in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline.
A device to perform rolling shutter compensation comprising:
- memory;
- and
- a processor coupled to the memory and configured to:
- receive, from a rolling shutter camera, an image having a plurality of scanlines captured at different times, wherein each scanline includes a plurality of 2D pixels, and wherein each scanline has an associated camera pose;
- unproject, one or more 2D pixels in a first scanline of the received image to 3D coordinates;
- transform the 3D coordinates from the first scanline to a reference pose;
- reproject the transformed 3D coordinates;
- and
- provide, in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline
A machine readable non-transitory storage medium having stored therein program instructions that are executable by a processor to:
- receive, from a rolling shutter camera, an image having a plurality of scanlines captured at different times, wherein each scanline includes a plurality of 2D pixels, and wherein each scanline has an associated camera pose;
- unproject, one or more 2D pixels in a first scanline of the received image to 3D coordinates;
- transform the 3D coordinates from the first scanline to a reference pose;
- reproject the transformed 3D coordinates;
- and
- provide, in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline.
An apparatus to correct rolling shutter artifacts, the apparatus comprising:
- means for receiving, from a rolling shutter camera, an image having a plurality of scanlines captured at different times, wherein each scanline includes a plurality of 2D pixels, and wherein each scanline has an associated camera pose;
- means for unprojecting, one or more 2D pixels in a first scanline of the received image to 3D coordinates;
- means for transforming the 3D coordinates from the first scanline to a reference pose;
- means for reprojecting the transformed 3D coordinates;
- and
- means for providing, in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline.
Dependencies are inferred from the claim text.