Detecting control points for camera calibration

A non-transitory computer-readable medium storing instructions, the instructions comprising:

• one or more instructions that, when executed by one or more processors of a device, cause the one or more processors to:
• receive an image including a calibration pattern;
• apply a cross derivative filter to the image based on a first coordinate plane,
• the cross derivative filter including a cross derivative of a Gaussian function;
• determine a first plurality of response peaks associated with the calibration pattern based on applying the cross derivative filter,
• the first plurality of response peaks being associated with a plurality of control points associated with the calibration pattern and a plurality of boundary points associated with the calibration pattern,
• the plurality of boundary points being points along an edge of the calibration pattern;
• apply a first oriented filter to the image,
• the first oriented filter including a derivative of the Gaussian function based on a second coordinate plane;
• apply a second oriented filter to the image,
• the second oriented filter including a derivative of the Gaussian function based on a third coordinate plane;
• determine a second plurality of response peaks associated with the calibration pattern based on the first oriented filter and the second oriented filter,
• the second plurality of response peaks being associated with the plurality of boundary points;
• determine the plurality of control points based on removing the second plurality of response peaks, associated with the plurality of boundary points, from the first plurality of response peaks;
• and
• provide information that identifies the plurality of control points.

A method comprising:

• receiving an image including a calibration pattern,
• the receiving the image being performed by a device;
• applying a cross derivative filter to the image based on a first coordinate plane,
• the cross derivative filter including a cross derivative of a Gaussian function,
• the applying the cross derivative filter to the image being performed by the device;
• determining a first plurality of response peaks associated with the calibration pattern based on applying the cross derivative filter,
• the first plurality of response peaks being associated with a plurality of control points associated with the calibration pattern and a plurality of boundary points associated with the calibration pattern,
• the plurality of boundary points being points along an edge of the calibration pattern, and
• the determining the first plurality of response peaks being performed by the device;
• determining a second plurality of response peaks associated with the calibration pattern based on applying a first filter, including a derivative of the Gaussian function based on a second coordinate plane, and applying a second filter, including a derivative of the Gaussian function based on a third coordinate plane,
• the second plurality of response peaks being associated with the boundary points, and
• the determining the second plurality of response peaks being performed by the device;
• determining the plurality of control points based on removing the second plurality of response peaks, associated with the plurality of boundary points, from the first plurality of response peaks,
• the determining the plurality of control points being performed by the device;
• and
• providing information that identifies the plurality of control points,
• the providing information that identifies the plurality of control points being performed by the device.