System and method for dynamic stereoscopic calibration

Patent metadata

Field	Value
Publication number	US-11527006-B2
Application number	US-202217712074-A
Country	US
Kind code	B2
Filing date	Apr 2, 2022
Priority date	Mar 9, 2019
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

Methods for stereo calibration of a dual-camera that includes a first camera and a second camera and system for performing such methods. In some embodiments, a method comprises obtaining optimized extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters of the cameras, estimating an infinity offset e using the optimized extrinsic and extrinsic parameters, and estimating a scaling factor s using the optimized extrinsic and extrinsic parameters and infinity offset parameter e, wherein the optimized extrinsic and extrinsic parameters, infinity offset e and scaling factor s are used together to provide stereo calibration that leads to improved depth estimation.

First claim

What is claimed is:

1. A method for stereo calibration of a dual-camera that includes a first camera and a second camera, the method comprising:
obtaining optimized extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters;
using the optimized extrinsic and extrinsic parameters to estimate an infinity offset e that represents a disparity of points at infinity by obtaining dynamically at least two sets of stereo images, wherein each stereo image set includes a left image and a right image, matching corresponding points in left and right images of each set, matching corresponding points in, respectively, left images and right images of at least two sets, generating a disparity map by calculating disparity values in the two time frames for all features matched in same sets and between sets, labeling pixels with constant disparity over different time steps as respective points at infinity and estimating infinity offset e, from a respective disparity of the points at infinity;
using the optimized extrinsic and extrinsic parameters and the infinity offset e to estimate a scaling factor s that represents an accumulative error in focal length estimation and translation along a disparity axis; and
using the optimized extrinsic and extrinsic parameters, infinity offset e and scaling factor s to provide stereo calibration that leads to improved depth estimation.

2. A method for stereo calibration of a dual-camera that includes a first camera and a second camera, the method comprising:
obtaining optimized extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters;
using the optimized extrinsic and extrinsic parameters to estimate an infinity offset e that represents a disparity of points at infinity;
using the optimized extrinsic and extrinsic parameters and the infinity offset e to estimate a scaling factor s that represents an accumulative error in focal length estimation and translation along a disparity axis by obtaining dynamically at least one set of stereo images, detecting in the set at least one object of known dimensions (OKD) to obtain a detected OKD marked X OKD , matching corresponding points in X OKD , calculating a size of X OKD , calculating a disparity of X OKD , calculating a distance of X OKD from the dual-camera and estimating scaling factor s using the size, the disparity and the distance; and
using the optimized extrinsic and extrinsic parameters, infinity offset e and scaling factor s to provide stereo calibration that leads to improved depth estimation.

3. The method of claim 2 , wherein the stereo calibration includes dynamic stereo calibration.

4. The method of claim 3 , wherein the dynamic stereo calibration is performed in a moving vehicle that includes the dual-camera.

5. The method of claim 4 , wherein the using the optimized extrinsic and extrinsic parameters and the infinity offset e to estimate a scaling factor s includes obtaining dynamically at least one set of stereo images, detecting in the set at least one object of known dimensions (OKD) to obtain a detected OKD marked X OKD , matching corresponding points in X OKD , calculating a size of X OKD , calculating a disparity of X OKD , calculating a distance of X OKD , from the dual-camera and estimating scaling factor s using the size, the disparity and the distance.

6. A method for stereo calibration of a dual-camera that includes a first camera and a second camera, the method comprising:
obtaining optimized extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters;
using the optimized extrinsic and extrinsic parameters to estimate an infinity offset e that represents a disparity of points at infinity;
using the optimized extrinsic and extrinsic parameters and the infinity offset e to estimate a scaling factor s that represents an accumulative error in focal length estimation and translation along a disparity axis by obtaining dynamically at least two sets of stereo images, detecting in the sets at least one stationary object X OS , matching corresponding points in X OS to obtain a disparity, obtaining a distance driven between the obtaining of the at least two sets, and estimating scaling factor s using the disparity and the distance; and
using the optimized extrinsic and extrinsic parameters, infinity offset e and scaling factor s to provide stereo calibration that leads to improved depth estimation.

7. The method of claim 6 , wherein the stereo calibration includes dynamic stereo calibration.

8. The method of claim 7 , wherein the dynamic stereo calibration is performed in a moving vehicle that includes the dual-camera.

9. The method of claim 5 , wherein the using the optimized extrinsic and extrinsic parameters and the infinity offset e to estimate a scaling factor s includes obtaining dynamically at least two sets of stereo images, detecting in the sets at least one stationary object X OS , matching corresponding points in X OS to obtain a disparity, obtaining a distance driven between the obtaining of the at least two sets, and estimating scaling factor s using the disparity and the distance.

Assignees

• Corephotonics Ltd

Inventors

• Geva Nadav
• Ilan Paz
• Gigushinski Oded
• Goldenberg Ephraim
• Shabtay Gal

Classifications

• G06T7/85 Primary

  Stereo camera calibration · CPC title

• H04N13/246 Primary

  Calibration of cameras · CPC title

• G06T2207/30248

  Vehicle exterior or interior · CPC title

• G06T2207/10012

  Stereo images · CPC title

• H04N13/239 Primary

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title