Calibration for multi-camera systems
AssigneeFacebook, Inc.
InventorForrest Samuel Briggs
Life of this patent
Estimating the term…
Abstract
An image processing system calibrates multiple cameras of a camera rig system. The image processing system may correct barrel distortion of raw images to generate rectilinear images. The image processing system identifies key points in neighboring rectilinear image pairs captured by adjacent cameras. The image processing system may generate a parameter vector by solving an optimization problem using a gradient descent loop and the key points. The optimization problem reduces a displacement error to align the key points of the rectilinear images by adjusting calibration of the cameras or a transform of the images (which corresponds to camera calibration). The image processing system may jointly rectify, i.e., calibrate, multiple cameras simultaneously.
Claims20
A method for calibrating a camera rig system, the method comprising:
- receiving a plurality of images each captured by a different camera in the camera rig system, each camera adjacent to at least two other cameras in the camera rig system;
- identifying a set of image pairs, each image pair including images of the plurality of rectilinear images captured by adjacent cameras of the camera rig system;
- identifying, for each image pair, a set of key points included in both images of the image pair;
- and
- calibrating the camera rig system based on the plurality of rectilinear images by adjusting at least one transformation of the plurality of images to reduce a displacement error of the identified sets of key points in a dimension.
A non-transitory computer-readable storage medium storing instructions that when executed by a processor cause the processor to perform steps including:
- receiving a plurality of images each captured by a different camera in the camera rig system, each camera adjacent to at least two other cameras in the camera rig system;
- identifying a set of image pairs, each image pair including images of the plurality of rectilinear images captured by adjacent cameras of the camera rig system;
- identifying, for each image pair, a set of key points included in both images of the image pair;
- and
- calibrating the camera rig system based on the plurality of rectilinear images by adjusting at least one transformation of the plurality of images to reduce a displacement error of the identified sets of key points in a dimension.
Dependencies are inferred from the claim text.