US 9,807,371 B2Granted

Depth perceptive trinocular camera system

AssigneeAquifi, Inc.

InventorsPietro Salvagnini, Michele Stoppa, Abbas Rafii

Life of this patent

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Abstract

A method for detecting decalibration of a depth camera system including a first, second, and third cameras having overlapping fields of view in a direction includes: detecting a feature in a first image captured by the first camera; detecting the feature in a second image captured by the second camera; detecting the feature in a third image captured by the third camera, the third camera being non-collinear with the first and second cameras; identifying a first conjugate epipolar line in the second image in accordance with a detected location of the feature in the first image and calibration parameters; identifying a second conjugate epipolar line in the second image in accordance with a detected location of the feature in the third image and the calibration parameters; and calculating a difference between a detected location of the feature in the second image and the first and second conjugate epipolar lines.

Claims15

Dependent claims

A depth perceptive camera system comprising:

a first camera configured to capture infrared images;
a second camera;
a third camera arranged non-collinearly with the first and second cameras, the first, second, and third cameras having substantially overlapping fields of view in a direction, and at least one of the second and third cameras being configured to capture visible light images, the third camera being equidistant from the first and second cameras, the third camera having a higher resolution than a resolution of the first camera by a resolution factor r;
and
an image signal processor configured to receive images from the first camera, the second camera, and the third camera, the image signal processor being configured to detect a decalibration of the first, second, and third cameras,
wherein a first baseline extends between the second camera and the first camera,
wherein a second baseline extends between the second camera and the third camera, and
wherein an angle α formed between the first baseline and the second baseline is approximately αoptimal, where
α
optimal
=
argmax
α
⁢
{
(
2
×
sin
⁡
(
α
)
+
r
×
sin
⁡
(
2
⁢
⁢
α
)
3
)
-
(
tan
⁡
(
α
)
2
)
}
.

44 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/486,005Filed 12 Apr 2017 · division
Priority: 22 Dec 2015
Published: US 2017/0180706 A13 Aug 2017
Granted: 31 Oct 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

H04N 13/246
Using stereoscopic image cameras: calibration of cameras
G01S 7/4972
Means for monitoring or calibrating: alignment of sensor
G01S 17/86
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems: combinations of lidar systems…
G01S 17/894
For mapping or imaging: three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver…

Family

Application62/271,212Us provisional application · filed 22 Dec 2015
Application15/147,879Parent of this division · filed 5 May 2016
US 2017/0223340 A1Pre-grant publication · published 3 Aug 2017
US 9,674,504 B1Parent of this division
US 2017/0180706 A1Published application
US 9,807,371 B2This patent

From the US filing history. Foreign family members aren’t listed.