US 12,243,269 B2
Method and apparatus for automatic intrinsic camera calibration using images of a planar calibration pattern
Charles Xavier Quentin Dubout, Ecublens (CH); and Horesh Beny Ben Shitrit, Echichens (CH)
Assigned to Genius Sports SS, LLC, Los Angeles, CA (US)
Filed by Genius Sports SS, LLC, Los Angeles, CA (US)
Filed on May 7, 2020, as Appl. No. 16/869,177.
Application 16/869,177 is a continuation of application No. 16/448,871, filed on Jun. 21, 2019, granted, now 10,706,588.
Application 16/448,871 is a continuation of application No. 16/294,484, filed on Mar. 6, 2019, granted, now 10,380,766, issued on Aug. 13, 2019.
Application 16/294,484 is a continuation of application No. 15/970,965, filed on May 4, 2018, granted, now 10,269,140, issued on Apr. 23, 2019.
Claims priority of provisional application 62/501,579, filed on May 4, 2017.
Prior Publication US 2020/0265610 A1, Aug. 20, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/80 (2017.01); G06V 10/44 (2022.01); G06V 10/75 (2022.01)
CPC G06T 7/80 (2017.01) [G06V 10/44 (2022.01); G06V 10/757 (2022.01); G06T 2207/10016 (2013.01); G06T 2207/30208 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method comprising:
for each image of a plurality of images taken by an image capture device of a calibration pattern, reconstructing a lattice graph corresponding to the calibration pattern;
determining two-and three-dimensional correspondences for the plurality of images, based on the reconstructed lattice graphs;
randomly selecting a plurality of sets of images from the plurality of images;
for each set of images in said plurality of sets of images:
determining a set of estimated values for a plurality of intrinsic parameters for the image capture device, based on the determined two-and three-dimensional correspondences for the images in the set of images, and
based on said set of estimated intrinsic parameter values, calculating a reprojection error for each of the plurality of images;
determining a measure of quality for each set of estimated intrinsic parameter values, based on the reprojection errors calculated for that set of estimated intrinsic parameter values;
selecting one of the sets of estimated intrinsic parameter values, based on the measures of quality for the sets of estimated intrinsic parameter values;
selecting a subset of images from the plurality of images with respective reprojection errors that are based on the selected set of estimated intrinsic parameter values and are lower than a reprojection error threshold; and
determining a set of re-estimated intrinsic parameter values, based on the subset of images and the two-and three-dimensional correspondences corresponding to the subset of images.