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US 9,519,968 B2Granted
Calibrating visual sensors using homography operators
AssigneeHewlett-Packard Development Company, L.P.
InventorJinman Kang
Life of this patent
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Abstract
A plurality of homography operators define respective mappings between pairs of coordinate spaces, wherein the coordinate spaces include a coordinate space of a first visual sensor, a virtual coordinate space, and a coordinate space of a second visual sensor. Calibration between the first and second visual sensors is provided using the plurality of homography operators.
Claims21
A method comprising:
- determining, by a system having a processor, a plurality of homography operators defining respective mappings between pairs of coordinate spaces, wherein the coordinate spaces include a coordinate space of a first visual sensor, a virtual coordinate space, and a coordinate space of a second visual sensor, the plurality of homography operators comprising a first homography operator providing a 2D-to-2D mapping between the coordinate space of the first visual sensor and the virtual coordinate space, and a second homography operator providing a 2D-to-2D mapping between the coordinate space of the second visual sensor and the virtual coordinate space, the first visual sensor and the second visual sensor being heterogeneous sensors of different types and different resolutions;
- using a depth camera to capture a calibration pattern projected by a projector;
- determining parameters of the first and second visual sensors based on the calibration pattern captured by the depth camera;
- determining, by the system, the first and second homography operators using the parameters of the first and second visual sensors;
- and
- providing, by the system, calibration between the first and second visual sensors using the plurality of homography operators.
3 more elements
An article comprising at least one non-transitory machine-readable storage medium storing instructions that upon execution cause a system to:
- determine a 2D-to-2D mapping, represented by a first homography operator, between a coordinate space of a first visual sensor and a virtual coordinate space;
- determine a 2D-to-2D mapping, represented by a second homography operator, between the virtual coordinate space and a coordinate space of a second visual sensor, the second visual sensor and the first visual sensor being heterogeneous sensors of different types and different resolutions;
- and calibrate the first and second visual sensors of different types and different resolutions using the first and second homography operators.
A system comprising:
- at least one processor to:
- determine a plurality of homography operators defining respective mappings between pairs of coordinate spaces, wherein the coordinate spaces include a coordinate space of a first visual sensor, a virtual coordinate space, and a coordinate space of a second visual sensor, the first visual sensor and the second visual sensor being heterogeneous sensors of different types and different resolutions, a first homography operator of the plurality of homography operators providing a 2D-to-2D mapping between the coordinate space of the first visual sensor and the virtual coordinate space, and a second homography operator of the plurality of homography operators providing a 2D-to-2D mapping between the coordinate space of the second visual sensor and the virtual coordinate space;
- and
- provide calibration between the first and second visual sensors of different types and different resolutions using the plurality of homography operators.
1 more element
Dependencies are inferred from the claim text.