Image distortion correction of a camera with a rolling shutter
AssigneeMobileye Vision Technologies Ltd.
InventorYael Berberian
Life of this patent
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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.
Claims14
A method for correcting for image distortion during camera motion using a system including a processor and a camera having a rolling shutter, the method comprising:
- representing the camera motion by an ego-motion matrix;
- capturing a plurality of image frames by the camera equipped with the rolling shutter, wherein the captured image frames include a base image frame and a previous image frame;
- recording a plurality of time stamps respectively for a plurality of corresponding image points in the previous and base image frames;
- and
- computing a plurality of ego-motions between capture times of the corresponding image points by correcting the ego-motion matrix responsive to the time stamps of the corresponding image points of the base image frame and the previous image frame thereby correcting for the image distortion caused by the rolling shutter.
A system configured to correct for image distortion during camera motion, the system comprising:
- a processor;
- and a camera operatively connected to the processor wherein the camera has a rolling shutter;
- wherein the processor is configured to represent the camera motion by an ego-motion matrix;
- wherein the processor is configured to capture a plurality of image frames by the camera equipped with the rolling shutter, wherein the captured image frames include a base image frame and a previous image frame;
- wherein the processor is configured to record a plurality of time stamps respectively for a plurality of corresponding image points in the previous and base image frames;
- and
- wherein the processor is configured to compute a plurality of ego-motions between capture times of the corresponding image points by correcting the ego-motion matrix responsive to the time stamps of the corresponding image points of the base image frame and the previous image frame to correct for the image distortion caused by the rolling shutter.
Dependencies are inferred from the claim text.