US 12,322,139 B2
System and method for camera calibration
Peter M. Petrov, Bellevue, WA (US); and Olena Ivanovna Kobysh, Dnipropetrovsk Oblast (UA)
Assigned to Basis Software, Inc., Redmond, WA (US)
Filed by Basis Software, Inc., Redmond, WA (US)
Filed on Feb. 28, 2023, as Appl. No. 18/115,492.
Claims priority of provisional application 63/314,749, filed on Feb. 28, 2022.
Prior Publication US 2023/0274462 A1, Aug. 31, 2023
Int. Cl. G06T 7/80 (2017.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G06T 7/13 (2017.01); G06T 7/90 (2017.01)
CPC G06T 7/80 (2017.01) [G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06T 7/13 (2017.01); G06T 7/90 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20021 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A camera system comprising:
a frame;
a camera rig mountable to the frame;
a camera attachable to the camera rig, the camera configured to acquire a camera image of an object or a scene;
a LIDAR scanner mountable to the frame, the LIDAR scanner configured to acquire LIDAR data of the object or the scene; and
a processing unit configured to use calibration parameters to combine the camera image and the LIDAR data by mapping data from the camera image and the LIDAR data from the LIDAR scanner to a common coordinate system, wherein the processing unit is configured to generate the calibration parameters by:
partitioning each of the camera image and the LIDAR data into a plurality of cells;
performing an initial mapping between the plurality of cells in the camera image and the plurality of cells in the LIDAR data;
detecting edges in the camera image and the LIDAR data;
calculating offset vectors for the detected edges in each of the cells between the camera image and the LIDAR data mapped to the common coordinate system; and
determining the calibration parameters based on the calculated offset vectors;
wherein the camera is configured to be removed from the camera rig and replaced by the LIDAR scanner at a same position.