US 12,423,866 B2
Maintaining intrinsic calibration of cameras with in-body image stabilization systems
Peter Leeman, Pittsburgh, PA (US); Nijumudheen Muhassin, Jefferson Hills, PA (US); and Jayesh Dwivedi, Oakmont, PA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Aug. 23, 2022, as Appl. No. 17/893,732.
Prior Publication US 2024/0070915 A1, Feb. 29, 2024
Int. Cl. G06K 9/00 (2022.01); G06T 7/80 (2017.01); H04N 23/68 (2023.01)
CPC G06T 7/80 (2017.01) [H04N 23/6842 (2023.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining, by at least one processor, a first camera sensor position at which a movable sensor of a camera is positioned when the camera captures a first image;
selecting, by the at least one processor and from at least one database comprising a plurality of intrinsic calibration data sets indexed by a respective plurality of second camera sensor positions, one of a plurality of second camera sensor positions based on the first camera sensor position of the movable sensor, wherein respective intrinsic parameters of an intrinsic calibration data set comprise a focal length, an optical center, and distortion parameters;
retrieving, from the at least one database and for the camera, a first intrinsic calibration data set comprising intrinsic parameters, of the plurality of intrinsic calibration data sets, that is indexed by the selected one of the plurality of second camera sensor positions;
rectifying, by the at least one processor, the first image using the first intrinsic calibration data set comprising the intrinsic parameters of the camera retrieved from the at least one database;
obtaining, by the at least one processor, a second camera sensor position at which the movable sensor of the camera is positioned when the camera captures a second image;
determining, by the at least one processor, that a distance between the second camera sensor position and the first camera sensor position satisfies a threshold;
selecting, by the at least one processor and from the at least one database, another one of the plurality of second camera sensor positions that is closest to the second camera sensor position in response to the determining;
retrieving, from the at least one database and for the camera, a second intrinsic calibration data set, of the plurality of intrinsic calibration data sets, that is indexed by the selected another one of the plurality of second camera sensor positions; and
rectifying, by the at least one processor, the second image using the second intrinsic calibration data set of the camera retrieved from the at least one database.