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公开(公告)号：US10560633B2
公开(公告)日：2020-02-11
申请号：US16041380
申请日：2018-07-20
Applicant: GoPro, Inc.
Inventor： Antoine Meler
IPC: H04N5/00 , H04N5/232 , G06T3/00 , G02B13/06 , H04N5/374 , H04N7/18 , H04N5/353 , G06T3/40 , H04N5/341 , H04N5/247
Abstract: Images may be obtained using a moving camera comprised of two or more rigidly mounted image sensors. Camera motion may change camera orientation when different portions of an image are captured. Pixel acquisition time may be determined based on image exposure duration and position of the pixel in the image array (pixel row index). Orientation of the sensor may at the pixel acquisition time instance may be determined. Image transformation may be performed wherein a given portion of the image may be associated with a respective transformation characterized by the corrected sensor orientation. In some implementations of panoramic image acquisition, multiple source images may be transformed to, e.g., equirectangular plane, using sensor orientation that is corrected for the time of pixel acquisition. Use of orientation correction may improve quality of stitching by, e.g., reducing contrast of border areas between portions of the transformed image obtained by different image sensors.
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公开(公告)号：US10477064B2
公开(公告)日：2019-11-12
申请号：US15681764
申请日：2017-08-21
Applicant: GoPro, Inc.
Inventor： Bruno César Douady-Pleven , Antoine Meler , Christophe Clienti
Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include receiving a first image from a first image sensor; receiving a second image from a second image sensor; determining an electronic rolling shutter correction mapping for the first image and the second image; determining a parallax correction mapping based on the first image and the second image for stitching the first image and the second image; determining a warp mapping based on the parallax correction mapping and the electronic rolling shutter correction mapping, wherein the warp mapping applies the electronic rolling shutter correction mapping after the parallax correction mapping; applying the warp mapping to image data based on the first image and the second image to obtain a composite image; and storing, displaying, or transmitting an output image that is based on the composite image.
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公开(公告)号：US20180262685A1
公开(公告)日：2018-09-13
申请号：US15978714
申请日：2018-05-14
Applicant: GoPro, Inc.
Inventor： Antoine Meler , Thomas Derbanne
CPC classification number: H04N5/23238 , G06T3/0018 , G06T3/0068 , G06T7/55 , G06T7/593 , G06T11/60 , G06T2200/32 , G06T2207/10012 , G06T2207/10024 , G06T2207/30252 , H04N5/2624 , H04N9/646
Abstract: Multiple images may be combined to obtain a composite image. Individual images may be obtained with different camera sensors and/or at different time instances. In order to obtain the composite image source images may be aligned in order to produce a seamless stitch. Source images may be characterized by a region of overlap. A disparity measure may be determined for pixels along a border region between the source images. A warp transformation may be determined using a refinement process configured to determine displacement of pixels of the border region based on the disparity. Pixel displacement at a given location may be constrained to direction configured tangential to an epipolar line corresponding to the location. The warp transformation may be propagated to pixels of the image. Spatial and/or temporal smoothing may be applied. In order to obtain refined solution, the warp transformation may be determined at multiple spatial scales.
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公开(公告)号：US09792709B1
公开(公告)日：2017-10-17
申请号：US14949786
申请日：2015-11-23
Applicant: GOPRO, INC.
Inventor： Antoine Meler
CPC classification number: G06T11/60 , G06T3/0018 , H04N5/23238
Abstract: Multiple images may be combined to obtain a composite image. Individual images may be obtained with different camera sensors and/or at different time instances. In order to obtain the composite image source images may be aligned in order to produce a seamless stitch. Source images may be characterized by a region of overlap. A disparity measure may be determined for pixels along a border region between the source images. A warp transformation may be determined using an optimizing process configured to determine displacement of pixels of the border region based on the disparity. Pixel displacement at a given location may be constrained to direction configured tangential to an epipolar line corresponding to the location. The warp transformation may be propagated to pixels of the image. Spatial and/or temporal smoothing may be applied. In order to obtain optimized solution, the warp transformation may be determined at multiple spatial scales.
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