Automatic camera calibration
AssigneeRawles LLC
InventorsSamuel Henry Chang, Manika Puri, Edward Dietz Crump, Steve G. Gonzalez
Life of this patent
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Abstract
Devices and techniques are described for automatically calibrating a camera system. The camera system undergoing calibration is coupled to a computing device and an automated positioning platform coupled to a target structure. The computing device acquires images from the camera of the target structure in a plurality of repeatable poses. From these acquired images, intrinsic camera parameters may be determined. Once determined, the parameters may be used to correct images acquired by the camera system.
Claims20
A system comprising:
- a target structure comprising one or more fiducial features;
- an automated positioning platform coupled to the target structure and under control of one or more computing systems, the positioning platform configured to orient the target structure to a plurality of poses by moving in one or more degrees of freedom at least partly in response to receiving corresponding instructions from the one or computing systems;
- a camera configured to acquire one or more acquired images of the target structure in each of the plurality of poses;
- a calibration module configured to:
- determine an observed location of the one or more fiducial features within at least a portion of the one or more acquired images of the target structure in the plurality of poses;
- and
- generate calibration data associated with the camera based at least in part on the observed location of the one or more fiducial features in the acquired images.
One or more computer-readable non-transitory storage media storing instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
- setting, to a pose, a positioning platform coupled to a target presenting one or more fiducial features;
- acquiring, with a camera, a set of one or more images of the target while the positioning platform is in the pose;
- selecting an image from the set of one or more images meeting one or more criteria;
- determining an observed location of one or more fiducial features in the selected image;
- and
- generating calibration data associated with the camera based at least in part on the observed location of the one or more fiducial features.
One or more computer-readable non-transitory storage media storing instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
- directing a camera target coupled to a positioning platform between a plurality of poses by adjusting the positioning platform in a linear motion;
- acquiring with a camera one or more images of the camera target in the plurality of poses;
- and
- generating camera calibration data based at least in part on features present in the camera target.
Dependencies are inferred from the claim text.