# US 2019/0356830 A1 · Image distortion correction of a camera with a rolling shutter > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0356830 A1 - Document ID: US20190356830A1 - Status: Published application - Kind: A1 - Application number: 16/531,425 - Filed: 2019-08-05 - Published: 2019-11-21 - Earliest claimed: 2013-02-21 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Yael Berberian - Web page: https://patentgrep.com/patent/US20190356830A1 ## CPC - H04N 23/689: {Motion occurring during a rolling shutter mode} - H04N 23/68: for stable pick-up of the scene, e.g. compensating for camera body vibrations - H04N 23/6811: {based on the image signal} - H04N 23/683: {performed by a processor, e.g. controlling the readout of an image memory} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Correcting image distortion during camera motion using a system including a processor and a camera having a rolling shutter. Multiple image frames are captured by the camera equipped with the rolling shutter. The captured image frames include a base image frame and a previous image frame. Multiple time stamps are recorded respectively for multiple corresponding image points in the previous and base image frames. For the corresponding image points, multiple ego-motions are computed responsive to the time stamps of the corresponding image points of the base image frame and the previous image frame to correct the image distortion caused by the rolling shutter. ## Claims ### Claim 1 A system for determining a distance to a point from a rolling shutter camera, the system comprising: an interface configured to receive, from the rolling shutter camera, a first image and a second image of an environment of the rolling shutter camera, captured while the camera is moving, the difference between capture time of the first and second image being dT; a processor configured to: detect a point (x1, y1) in the first image at a time T1, which is the time when a line y1 was captured in the first image; detect a corresponding point (x2, y2) in the second image at a time T2, which is the time when line y2 was captured in the second image, wherein a difference between the time T2 and the time T1 is not equal to dT; and determine the distance to the point at a time T0, which is different than the time T1 or the time T2. ### Claim 2 (depends on 1) The system of claim 1, wherein the processor is further configured to: determine a distance to a second point from the rolling shutter camera by: detecting a point (x3, y3) in the first image at a time T3, which is the time when a line y3 was captured in the first image; detecting a point (x4, y4) in the second image at a time T4, which is the time when a line y4 was captured in the second image, wherein the time T3 is not equal to the time T1, and the time T4 is not equal to the time T2; and determine the distance to the second point at the time T0, which is different from the time T3 or the time T4. ### Claim 3 (depends on 1) The system of claim 1, wherein the distance to the point from the rolling shutter is calculated by using camera motion detected between the time T1 and the time T2, a line defined by point (x1, y1) in a coordinate frame of the rolling shutter camera at the time T1, and a line defined by the point (x2, y2) in a coordinate frame of the rolling shutter camera at the time T2, which are transformed to the coordinate frame of the rolling shutter camera at the time T1 using ego motion between the time T1 and the time T2. ### Claim 4 (depends on 3) The system of claim 3, wherein the processor is further configured to transform the distance to the coordinate frame at the time T0 using the camera motion detected between the time T1 and the time T0. ### Claim 5 (depends on 3) The system of claim 3, wherein the ego motion represents a translation and a rotation of the rolling shutter camera between the time T1 and the time T2. ### Claim 6 A method for determining a distance to a point from a rolling shutter camera, the method comprising: receiving, from the rolling shutter camera, a first image and a second image of an environment of the rolling shutter camera, captured while the camera is moving, the different between capture time of the first and second image being dT; detecting a point (x1, y1) in the first image at a time T1, which is the time when a line y1 was captured in the first image; detecting a corresponding point (x2, y2) in the second image at a time T2, which is the time when line y2 was captured in the second image, wherein a difference between the time T2 and the time T1 is not equal to dT; and determining the distance to the point at a time T0, which is different than the time T1 or the time T2. ### Claim 7 (depends on 6) The method of claim 6, further comprising: determining a distance to a second point from the rolling shutter camera by: detecting a point (x3, y3) in the first image at a time T3, which is the time when a line y3 was captured in the first image; detecting a point (x4, y4) in the second image at a time T4, which is the time when a line y4 was captured in the second image, wherein the time T3 is not equal to the time T1, and the time T4 is not equal to the time T2; and determine the distance to the second point at a time T0, which is different from the time T3 or the time T4. ### Claim 8 (depends on 6) The method of claim 6, wherein determining the distance to the point from the rolling shutter comprises calculating by using camera motion detected between the time T1 and the time T2, a line defined by point (x1, y1) in a coordinate frame of the rolling shutter camera at the time T1, and a line defined by the point (x2, y2) in a coordinate frame of the rolling shutter camera at the time T2, which are transformed to the coordinate frame of the rolling shutter camera at the time T1 using ego motion between the time T1 and the time T2. ### Claim 9 (depends on 8) The method of claim 8, further comprising transforming the distance to the coordinate frame at the time T0 using the camera motion detected between the time T1 and the time T0. ### Claim 10 (depends on 8) The method of claim 8, wherein the ego motion represents a translation and a rotation of the rolling shutter camera between the time T1 and the time T2.