公开(公告)号：US09384551B2

公开(公告)日：2016-07-05

申请号：US13858813

申请日：2013-04-08

Applicant: Amazon Technologies, Inc.

Inventor： Sharadh Ramaswamy ,  Matthew Paul Bell ,  Dmitri Khoklov ,  David W. Stafford ,  Isaac Scott Noble

IPC: H04N13/02 ,  G06T7/00

CPC classification number: G06T7/002 ,  G06T7/85 ,  H04N13/239 ,  H04N13/243 ,  H04N2213/001

Abstract: An electronic device can have two or more pairs of cameras capable of performing three-dimensional imaging. In order to provide accurate disparity information, these cameras should be sufficiently rectified. Automatic rectification can be performed by periodically capturing images with the cameras of interest, and locating matching feature points in corresponding images captured by those cameras. Small misalignment errors can be treated as linear translations, such that a set of linear equations can be used to solve for the misalignments. Another process can process a set of homographies for the cameras until a cost function converges. Various other approaches can be used as well, such as to directly solve for yaw, pitch, and roll errors. Once this information is obtained, the misalignment values (or related values) can be stored for use in correcting images subsequently captured by those cameras.

Abstract translation: 电子设备可以具有能够执行三维成像的两对或更多对相机。 为了提供准确的视差信息，这些摄像机应该被充分纠正。 可以通过周围拍摄感兴趣的摄像机的图像，并将匹配的特征点定位在由这些摄像机拍摄的相应图像中，从而进行自动校正。 小的对准误差可以被视为线性平移，使得可以使用一组线性方程来解决不对准。 另一个过程可以处理一组相机的同画，直到成本函数收敛。 也可以使用各种其他方法，例如直接解决偏航，俯仰和滚动误差。 一旦得到该信息，就可以存储未对准值（或相关值），以用于校正随后由这些相机拍摄的图像。

公开(公告)号：US20140300704A1

公开(公告)日：2014-10-09

申请号：US13858813

申请日：2013-04-08

Applicant: Amazon Technologies, Inc.

Inventor： Sharadh Ramaswamy ,  Matthew Paul Bell ,  Dmitri Khoklov ,  David W. Stafford ,  Isaac Scott Noble

IPC: H04N13/02

CPC classification number: G06T7/002 ,  G06T7/85 ,  H04N13/239 ,  H04N13/243 ,  H04N2213/001

Abstract: An electronic device can have two or more pairs of cameras capable of performing three-dimensional imaging. In order to provide accurate disparity information, these cameras should be sufficiently rectified. Automatic rectification can be performed by periodically capturing images with the cameras of interest, and locating matching feature points in corresponding images captured by those cameras. Small misalignment errors can be treated as linear translations, such that a set of linear equations can be used to solve for the misalignments. Another process can process a set of homographies for the cameras until a cost function converges. Various other approaches can be used as well, such as to directly solve for yaw, pitch, and roll errors. Once this information is obtained, the misalignment values (or related values) can be stored for use in correcting images subsequently captured by those cameras.

Abstract translation: 电子设备可以具有能够执行三维成像的两对或更多对相机。 为了提供准确的视差信息，这些摄像机应该被充分纠正。 可以通过周围拍摄感兴趣的摄像机的图像，并将匹配的特征点定位在由这些摄像机拍摄的相应图像中，从而进行自动校正。 小的对准误差可以被视为线性平移，使得可以使用一组线性方程来解决不对准。 另一个过程可以处理一组相机的同画，直到成本函数收敛。 也可以使用各种其他方法，例如直接解决偏航，俯仰和滚动误差。 一旦得到该信息，就可以存储未对准值（或相关值），以用于校正随后由这些相机拍摄的图像。