US 12,394,094 B1
Extrinsic calibration parameter generating device, method, and non-transitory computer readable storage medium thereof
Wei-Fan Chen, Taoyuan (TW); and Chi Yuan Chen, Taoyuan (TW)
Assigned to HTC Corporation, Taoyuan (TW)
Filed by HTC Corporation, Taoyuan (TW)
Filed on Mar. 29, 2024, as Appl. No. 18/621,144.
Int. Cl. G06T 7/80 (2017.01); G06T 7/20 (2017.01); G06V 10/44 (2022.01)
CPC G06T 7/80 (2017.01) [G06T 7/20 (2013.01); G06V 10/44 (2022.01); G06T 2207/10048 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An extrinsic calibration parameter generating device, comprising:
at least two image capturing devices, wherein each of the at least two image capturing devices is configured to generate an image frame, and each of the image frames includes a plurality of light-emitting points on an external device; and
a processor, being electrically connected to the at least two image capturing device, and being configured to perform operations comprising:
calculating a base image capturing device pose based on the light-emitting points of the image frames;
generating a first extrinsic calibration parameter corresponding to the at least two image capturing devices based on the image frames, wherein the first extrinsic calibration parameter is a five-degree-of-freedom information; and
generating a second extrinsic calibration parameter corresponding to the at least two image capturing devices based on the base image capturing device pose and the first extrinsic calibration parameter, wherein the second extrinsic calibration parameter is six-degree-of-freedom information.