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US 2026/0311368 A1Published application
System and a method to achieve single-shot stereo calibration
AssigneeIrida Labs S.A.
InventorsNikos FRAGOULIS, Vasileios POTHOS
Life of this patent
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Abstract
One exemplary aspect relates generally to camera calibration and, more particularly, to methods and systems for performing single-shot single or stereo camera calibration of wide-angle or fisheye camera pairs using a specially arranged calibration target. One exemplary advantage is that the system provides a technique for calibrating fisheye or wide-angle camera(s) without requiring multiple viewpoints.
Claims26
A single-shot calibration system, comprising:
- at least one camera having a wide-angle or fisheye lens;
- a volumetric display configured to project a plurality of fiducial points in free space at known three-dimensional coordinates;
- and
- a computing device operatively connected to the camera and configured to:
- capture a single frame of the volumetric display,
- detect in said single frame a set of two-dimensional marker positions,
- match each marker position to its corresponding known three-dimensional coordinate, and
- determine intrinsic and/or extrinsic calibration parameters for the camera based on said single frame,
- wherein the volumetric display is configured to provide out-of-plane structure sufficient for calibrating fisheye or wide-angle camera(s) without requiring multiple viewpoints.
6 more elements
A single-shot calibration system, comprising:
- at least one camera having a wide-angle or fisheye lens;
- a motorized telescopic marker assembly including a plurality of marker elements disposed on actuators or retractable rods, each marker having a known three-dimensional position when actuated to a specific extension;
- and
- a computing device configured to:
- control the extension or retraction of said rods to arrange the markers in a spatial configuration covering the field of view of the camera,
- capture a single image of the arranged markers,
- detect two-dimensional marker positions within said single image, and
- determine intrinsic and/or extrinsic calibration parameters of the camera based on matching the two-dimensional marker positions to their respective known three-dimensional coordinates.
5 more elements
A single-shot calibration system, comprising:
- at least one camera having a wide-angle or fisheye lens;
- a hanging marker array including a plurality of markers suspended by thin or transparent threads at different heights, each marker having a known three-dimensional location relative to a reference frame;
- and
- a computing device configured to:
- capture a single image of the hanging marker array from said camera,
- detect two-dimensional locations of the markers in the single image,
- map each detected two-dimensional location to its associated known three-dimensional coordinate, and
- solve for intrinsic and/or extrinsic calibration parameters of the camera using only data from the single image.
5 more elements
A single-shot calibration system for at least one wide-angle or fisheye camera, the system comprising:
- a multi-board arrangement, each board bearing one or more fiducial patterns at known positions on its surface;
- a motorized support assembly configured to control the orientation or position of each board, such that each board can be moved or tilted to a desired angle within a three-dimensional volume;
- the at least one camera, arranged to capture a single image containing all said boards;
- and a computing device configured to:
- detect, within the single captured image, two-dimensional positions of the fiducial patterns on each board;
- map each detected position to a corresponding known three-dimensional coordinate based on the motorized support assembly's positional data;
- and
- determine intrinsic and/or extrinsic calibration parameters for the at least one camera from said single image,
- wherein said multi-board arrangement provides sufficient out-of-plane structure to enable full calibration of wide-angle or fisheye lenses in a single-shot, without requiring multiple viewpoints.
6 more elements
A fiducial marker configured for computer vision applications, the fiducial marker comprising:
- a circular outer boundary sized and shaped to be detectable by circle- or contour-based computer vision techniques;
- a central region configured as a reflective or holographic disk, the central region being centered within the circular outer boundary;
- a radial wedge portion extending between the central region and the circular outer boundary, wherein the radial wedge portion includes a data encoding scheme based on at least one of:
- (i) a binary pattern formed by angular segments around the central region,
- (ii) variable angular width of the wedge, or
- (iii) multiple concentric wedges providing error-correcting codes;
- whereby the combination of the circular outer boundary, the central region, and the radial wedge portion imparts rotational invariance, partial occlusion resistance, and robust detection under varying lighting conditions.
4 more elements
A method for single-shot calibration of a wide-angle or fisheye camera, the method comprising:
- capturing, with the camera, a single image of a three-dimensional calibration target arranged to provide out-of-plane structure across the camera's field of view, said three-dimensional calibration target comprising at least one of:
- a volumetric display,
- a motorized telescopic marker assembly,
- a hanging marker array, and
- a multi-board arrangement;
- detecting two-dimensional locations of fiducial markers from the single image, wherein each marker's three-dimensional position is known;
- matching each detected two-dimensional location to its known three-dimensional position;
- and
- determining intrinsic and/or extrinsic calibration parameters for the camera from data derived from said single image, wherein said calibration parameters are determined without requiring multiple viewpoints of the three-dimensional calibration target.
6 more elements
Dependencies are inferred from the claim text.