| CPC G06T 7/85 (2017.01) [G02B 27/0172 (2013.01); H04N 13/246 (2018.05); G02B 2027/0134 (2013.01)] | 20 Claims |
|
1. A device, comprising:
cameras configured to be coupled with a rigid body, wherein at least part of respective fields of view of the cameras overlap with one another;
one or more processors; and
a memory, storing program instructions that when executed using the one or more processors, cause the one or more processors to:
perform a calibration process for the cameras, wherein to perform the camera calibration process the program instructions cause the one or more processors to:
determine points of interest within a first set of images captured by the cameras at a first moment in time;
identify pixel coordinate positions of the points of interest of the first set of images;
estimate, via an optimization technique, relative rotational parameters of the cameras, relative to one another, based, at least in part, on the pixel coordinate positions of the points of interest within the captured images at the first moment in time; and
repeat, for a plurality of additional sets of images captured by the cameras at a plurality of additional moments in time, the determination of points of interest, the identification of pixel coordinate positions of the points of interest, and the estimation, via the optimization technique, of the relative rotational parameters of the cameras; and
determine output relative rotational parameters of the calibration process based, at least in part, on a statistical analysis of the estimated relative rotational parameters estimated for the first moment in time and the plurality of additional moments in time; and
provide results of the calibration process, wherein the results comprise the output relative rotational parameters.
|