Techniques for rectification of camera arrays

Patent metadata

Field	Value
Publication number	US-9875543-B2
Application number	US-201213710294-A
Country	US
Kind code	B2
Filing date	Dec 10, 2012
Priority date	Dec 10, 2012
Publication date	Jan 23, 2018
Grant date	Jan 23, 2018

Abstract

Techniques for rectification of camera arrays are described. In one embodiment, for example, an apparatus may comprise a processor circuit and an imaging management module, and the imaging management module may be operable on the processor circuit to determine a composite rotation matrix for a camera array comprising a plurality of cameras, determine a composite intrinsic parameter matrix for the camera array, and compute one or more rectification maps for the camera array based on the composite rotation matrix and the composite intrinsic parameter matrix, each of the one or more rectification maps corresponding to one of the plurality of cameras. Other embodiments are described and claimed.

First claim

The invention claimed is:

1. At least one non-transitory machine-readable medium comprising a plurality of instructions that, in response to being executed on a computing device, cause the computing device to:
determine a composite orientation of a two-dimensional (2D) camera array according to a reference coordinate system, the 2D camera array to comprise a plurality of cameras organized into multiple rows and multiple columns;
determine a composite rotation matrix for the 2D camera array based on a difference between the composite orientation and a reference direction in the reference coordinate system;
determine a composite intrinsic parameter matrix for the 2D camera array;
compute one or more rectification maps for the 2D camera array, each of the one or more rectification maps to be determined based on the composite rotation matrix for the 2D camera array, the composite intrinsic parameter matrix for the 2D camera array, and an individual rotation matrix for a respective one of the plurality of cameras;
generate a rectified image by rectifying an original image captured by one of the plurality of cameras using a rectification map corresponding to the one of the plurality of cameras; and
display the generated rectified image on a display device.

2. The at least one non-transitory machine-readable medium of claim 1 , comprising instructions that, in response to being executed on the computing device, cause the computing device to:
determine the composite orientation of the 2D camera array based on a plurality of reference coordinates, each reference coordinate to indicate a location of an optical center of a respective one of the plurality of cameras according to the reference coordinate system.

3. The at least one non-transitory machine-readable medium of claim 2 , determining the composite orientation of the 2D camera array comprising:
fitting a plane to the plurality of reference coordinates; and
defining the composite orientation of the 2D camera array as a direction in the reference coordinate system that is perpendicular to the plane.

4. The at least one non-transitory machine-readable medium of claim 3 , comprising instructions that, in response to being executed on the computing device, cause the computing device to:
fit one or more lines to the plurality of reference coordinates, each of the one or more lines located in the plane and either parallel to or perpendicular to each other line among the one or more lines; and
define an array coordinate system based on the one or more lines and the composite orientation of the 2D camera array.

5. The at least one non-transitory machine-readable medium of claim 1 , comprising instructions that, in response to being executed on the computing device, cause the computing device to determine an individual rotation matrix and an individual intrinsic parameter matrix for each of the plurality of cameras.

6. The at least one non-transitory machine-readable medium of claim 5 , each of the one or more rectification maps to be determined based on the composite rotation matrix for the 2D camera array, the composite intrinsic parameter matrix for the 2D camera array, and on individual rotation and intrinsic parameter matrices for a respective one of the plurality of cameras.

7. The at least one non-transitory machine-readable medium of claim 1 , comprising instructions that, in response to being executed on the computing device, cause the computing device to determine the composite intrinsic parameter matrix by determining an average of individual intrinsic parameter matrices for each of the plurality of cameras.

8. The at least one non-transitory machine-readable medium of claim 1 , comprising instructions that, in response to being executed on the computing device, cause the computing device to:
determine coordinates in the original image that correspond to a pixel in the rectified image; and
determine a pixel value for the pixel in the rectified image by interpolating pixel values of two or more pixels in the original image, the two or more pixels selected based on the determined coordinates.

9. An apparatus, comprising:
a processor circuit including an imaging management module to:
determine a composite orientation of a two-dimensional (2D) camera array according to a reference coordinate system, the 2D camera array to comprise a plurality of cameras organized into multiple rows and multiple columns;
determine a composite rotation matrix for the 2D camera array based on a difference between the composite orientation and a reference direction in the reference coordinate system;
determine a composite intrinsic parameter matrix for the 2D camera array;
compute one or more rectification maps for the 2D camera array, each of the one or more rectification maps to be determined based on the composite rotation matrix for the 2D camera array, the composite intrinsic parameter matrix for the 2D camera array, and an individual rotation matrix for a respective one of the plurality of cameras;
generate a rectified image by rectifying an original image captured by one of the plurality of cameras using a rectification map corresponding to the one of the plurality of cameras; and
display the generated rectified image on a display device.

10. The apparatus of claim 9 , the imaging management module to:
determine the composite orientation of the 2D camera array based on a plurality of reference coordinates, each reference coordinate to indicate a location of an optical center of a respective one of the plurality of cameras according to the reference coordinate system.

11. The apparatus of claim 10 , the imaging management module to:
fit a plane to the plurality of reference coordinates; and
define the composite orientation of the 2D camera array as a direction in the reference coordinate system that is perpendicular to the plane.

12. The apparatus of claim 11 , the imaging management module to:
fit one or more lines to the plurality of reference coordinates, each of the one or more lines located in the plane and either parallel to or perpendicular to each other line among the one or more lines; and
define an array coordinate system based on the one or more lines and the composite orientation of the 2D camera array.

13. The apparatus of claim 9 , the imaging management module to determine an individual rotation matrix and an individual intrinsic parameter matrix for each of the plurality of cameras.

14. The apparatus of claim 13 , each of the one or more rectification maps to be determined based on the composite rotation matrix for the 2D camera array, the composite intrinsic parameter matrix for the 2D camera array, and on individual rotation and intrinsic parameter matrices for a respective one of the plurality of cameras.

15. The apparatus of claim 9 , the imaging management module to determine the composite intrinsic parameter matrix by determining an average of individual intrinsic parameter matrices for each of the plurality of cameras.

16. The apparatus of claim 9 , the imaging management module to:
determine coordinates in the original image that correspond to a pixel in the rectified image; and
determine a pixel value for the pixel in the rectified image by interpolating pixel values of two or more pixels in the original image, the two or more pixels selected based on the determined coordinates.

17. A method, comprising:
determining, by a processor circuit, a composite orientation of a two-dimensional (2D) camera array according to a reference coordinate system, the 2D camera array to comprise a plurality

Assignees

• Intel Corp

Inventors

• Ma Tao
• Sun Wei
• Nestares Oscar
• Seshadrinathan Kalpana
• Jayaraman Dinesh

Classifications

• G06T7/002 Primary

  Physics · mapped topic

• G06T2207/10012

  Stereo images · CPC title

• H04N13/0242

  Electricity · mapped topic

• H04N13/0246

  Electricity · mapped topic

• G06T7/85 Primary

  Stereo camera calibration · CPC title