US 12,094,175 B2
Real-time calibration of wide-baseline outside-in multi-camera systems
Sameer Sheorey, Santa Clara, CA (US); Avinash Kumar, Santa Clara, CA (US); Michael Schmidt, Beaverton, OR (US); and Abel Shin, Cypress, CA (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Nov. 24, 2020, as Appl. No. 17/103,295.
Prior Publication US 2021/0082149 A1, Mar. 18, 2021
Int. Cl. G06T 7/80 (2017.01); G06T 3/4007 (2024.01); H04N 13/20 (2018.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01)
CPC G06T 7/85 (2017.01) [G06T 3/4007 (2013.01); H04N 13/20 (2018.05); H04N 23/695 (2023.01); H04N 23/90 (2023.01)] 25 Claims
OG exemplary drawing
 
1. An apparatus to calibrate a wide-baseline outside-in moving multi-camera system, the apparatus comprising:
memory to store at least portions of video sequences and intrinsic parameters corresponding to cameras of the multi-camera system, the video sequences including a plurality of video frames of a scene sequenced along time instances shared across the video sequences;
computer readable instructions; and
at least one processor circuit to be programmed by the computer readable instructions to:
determine respective calibration parameters for corresponding ones of the cameras at corresponding ones of the time instances based on extrinsic parameters, a first one of the extrinsic parameters based on tracked features in the video sequences, a second one of the extrinsic parameters based on at least one of a location parameter or an orientation parameter corresponding to one or more motion control systems coupled to one or more of the corresponding ones of the cameras of the multi-camera system; and
output at least some of the calibration parameters.