Camera registration in a multi-camera system
AssigneeSeeing Machines Limited
InventorsJohn Noble, Timothy James Henry Edwards
Life of this patent
Estimating the term…
Abstract
Described herein is a method of registering a position and an orientation of one or more cameras in a camera imaging system. The method includes: receiving, from a depth imaging device, data indicative of a three dimensional image of the scene. The three dimensional image is calibrated with a reference frame relative to the scene. The reference frame includes a reference position and reference orientation. A three dimensional position of each of the cameras within the three dimensional image is determined relative to the reference frame. An orientation of each camera is determined to relative to the reference frame. The position and orientation of each camera is combined to determine a camera pose relative to the reference frame.
Claims21
A processor implemented method of determining a position and an orientation of one or more cameras in a camera imaging system, the method comprising:
- a) receiving, from a depth imaging device, a three dimensional image of a scene;
- b) calibrating, by the processor, the three dimensional image with a reference frame relative to the scene, the reference frame including a reference position and a reference orientation;
- c) determining a three dimensional position of each of the one or more cameras within the three dimensional image in the reference frame;
- d) determining an orientation of each of the one or more cameras in the reference frame;
- and
- e) combining the position and orientation of each of the one or more cameras to determine a camera pose for each of the one or more cameras in the reference frame.
3-4. (canceled)
A system configured to determine a position and an orientation of one or more cameras in a camera imaging system, each of the cameras being mounted within a scene, the system including:
- a depth imaging device configured to obtain a three dimensional image of the scene;
- and
- a processor circuit configured to perform operations including:
- calibrating the three dimensional image with a reference frame relative to the scene, the reference frame including a reference position and a reference orientation;
- determining the three dimensional position of each of the one or more cameras within the three dimensional image relative to the reference frame;
- determining the orientation of each of the one or more cameras in the reference frame;
- and
- combining the position and orientation of each of the one or more cameras to determine a camera pose for each of the one or more cameras relative to the reference frame.
Dependencies are inferred from the claim text.