Online compensation of thermal distortions in a stereo depth camera

Patent metadata

Field	Value
Publication number	US-10390002-B2
Application number	US-201715805598-A
Country	US
Kind code	B2
Filing date	Nov 7, 2017
Priority date	Sep 25, 2015
Publication date	Aug 20, 2019
Grant date	Aug 20, 2019

Abstract

A method and apparatus for performing temperature compensation for thermal distortions in a camera system. In one embodiment, the system comprises a first camera configured to capture a sequence of images of the object; a second device; a processing unit to receive the sequence of images and determine depth information in response to parameters of the camera and the second device; one or more temperature sensors; and a thermal correction unit responsive to temperature information from the one or more temperature sensors to adjust one or more of the calibration parameters of the first camera and the second device.

First claim

We claim:

1. An apparatus comprising:
a camera to record an image;
memory to store instructions; and
a processor in circuit with the memory, the processor to execute the instructions to:
determine a depth based on: (a) the image and (b) a calibration parameter of the camera; and
adjust the calibration parameter based on a temperature of the camera and the depth.

2. The apparatus of claim 1 , wherein the processor is to determine the depth based on points in the image.

3. The apparatus of claim 1 , further including a sensor to detect the temperature.

4. The apparatus of claim 1 , wherein the processor is further to execute the instructions to perform 3D processing of the image and a plurality of second images.

5. The apparatus of claim 1 , wherein the camera is an infrared camera.

6. The apparatus of claim 1 , further including a second camera, the image being a depth image based on the camera and the second camera.

7. An article of manufacture comprising one or more non-transitory computer readable storage media storing instructions which, when executed by a processor, cause the processor to at least:
access an image recorded by a camera;
determine a depth based on: (a) the image and (b) a calibration parameter of the camera; and
adjust the calibration parameter based on a temperature of the camera and the depth.

8. The article of manufacture of claim 7 , wherein the instructions cause the processor to determine the depth based on points in the image.

9. The article of manufacture of claim 7 , wherein the instructions are further to cause the processor to detect the temperature using a sensor.

10. The article of manufacture of claim 7 , wherein the instructions are further to cause the processor to perform 3D processing of the image and a plurality of second images.

11. The article of manufacture of claim 7 , wherein the camera is an infrared camera.

12. The article of manufacture of claim 7 , wherein the image is a depth image and the instructions are further to cause the processor generate the depth image based on the camera and a second camera.

13. A method, comprising:
accessing an image recorded by a camera;
determining, by executing an instruction with a processor, a depth based on: (a) the image and (b) a calibration parameter of the camera; and
adjusting, by executing an instruction with a processor, the calibration parameter based on a temperature of the camera and the depth.

14. The method of claim 13 , wherein the determining of the depth is based on points in the image.

15. The method of claim 13 , further including detecting the temperature using a sensor.

16. The method of claim 13 , further including performing 3D processing of the image and a plurality of second images.

17. The method of claim 13 , wherein the camera is an infrared camera.

18. The method of claim 13 , wherein the image is a depth image based on the camera and a second camera.

Assignees

• Intel Corp

Inventors

• Zabatani Aviad
• Bareket Sagy
• Menashe Ohad
• Sperling Erez
• Bronstein Alex
• Bronstein Michael
• Kimmel Ron
• Surazhsky Vitaly

Classifications

• H04N13/254

  in combination with electromagnetic radiation sources for illuminating objects · CPC title

• H04N13/246 Primary

  Calibration of cameras · CPC title

• G06F3/012

  Head tracking input arrangements · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title

• G06T7/85

  Stereo camera calibration · CPC title