US 2024/0177330 A1 · CAMERA CALIBRATION AND DISTANCE MEASUREMENT USING PARALLEL LINES

Abstract

Example implementations include a method, apparatus and computer-readable medium for estimating a real world distance in an image, comprising obtaining an image from a camera installed in an environment and identifying, in the image, a first set of parallel lines on a real world ground plane and a second set of parallel lines on the real world ground plane. The implementations include determining a first intersection point of the first set of parallel lines and a second intersection point of the second set of parallel lines, identifying a ground line connecting the first intersection point and the second intersection point, and estimating an internal camera matrix based on a focal length and an image size associated with the camera. The implementations include calibrating the camera for real world distance measurement by determining a perpendicular vector to the ground line based on the internal camera matrix.

Claims19

Dependent claims

A method for estimating a real world distance in an image, comprising:

obtaining an image from a camera installed in an environment;
identifying, in the image, a first set of parallel lines on a real world ground plane and a second set of parallel lines on the real world ground plane;
determining a first intersection point of the first set of parallel lines mapped on an image plane and a second intersection point of the second set of parallel lines mapped on the image plane;
identifying a ground line connecting the first intersection point and the second intersection point;
estimating an internal camera matrix based on a focal length and an image size associated with the camera;
and
calibrating the camera for real world distance measurement by determining a perpendicular vector to the ground line based on the internal camera matrix.

4 more elements

An apparatus for estimating a real world distance in an image, comprising:

one or more memories;
and
one or more processors coupled with the one or more memories, wherein the one or more processors are configured, individually or in combination, to:
obtain an image from a camera installed in an environment;
identify, in the image, a first set of parallel lines on a real world ground plane and a second set of parallel lines on the real world ground plane;
determine a first intersection point of the first set of parallel lines and a second intersection point of the second set of parallel lines;
identify a ground line connecting the first intersection point and the second intersection point;
estimate an internal camera matrix based on a focal length and an image size associated with the camera;
and
calibrate the camera for real world distance measurement by determining a perpendicular vector to the ground line based on the internal camera matrix.

7 more elements

An computer-readable medium storing instructions for estimating a real world distance in an image, wherein the instructions are executable by one or more processors to:

obtain an image from a camera installed in an environment;
identify, in the image, a first set of parallel lines on a real world ground plane and a second set of parallel lines on the real world ground plane;
determine a first intersection point of the first set of parallel lines and a second intersection point of the second set of parallel lines;
identify a ground line connecting the first intersection point and the second intersection point;
estimate an internal camera matrix based on a focal length and an image size associated with the camera;
and
calibrate the camera for real world distance measurement by determining a perpendicular vector to the ground line based on the internal camera matrix.

4 more elements

Dependencies are inferred from the claim text.

Camera calibration and distance measurement using parallel lines

Life of this patent

Camera calibration and distance measurement using parallel lines

Life of this patent

Abstract

Claims19