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AssigneeElphel, Inc.
InventorAndrey Filippov
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The proposed method allows to obtain long range data for the objects that are registered with image disparities of just a few pixels, supplementing conventional multi-view stereo (MVS) methods optimized for larger disparity values. This method uses at least four identical image sensing devices with parallel optical axes and located in the corners of a square providing orthogonal baselines for the imager pairs of the equal length. Image enhancement and processing is based on 2-d complex lapped transform (CLT), this method achieves subpixel disparity resolution with frequency-domain differential rectification avoiding resampling of the rectified images. CLT has efficient FPGA implementations with discrete cosine (DCT) and sine (DST) transforms. FPGA-based tile processor (TP) outputs data for the disparity space image (DSI), textures, data for field calibration and velocity measurements with electronic rolling shutter image sensors.
The method of differential image rectification for the purpose of image matching in multi-view stereo systems, comprising the calibration and runtime steps of:
The method of multi-view stereo with four identical parallel-oriented cameras located in the corners of a square providing four images that can be grouped in four pairs with equal baseline lengths aligned along two orthogonal directions, one of which coincides with the image sensor scan lines and plurality of all or some of the the correlation-based processing methods:
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