US 12,456,225 B2
Methods for infield camera calibrations
Shuntaro Yamazaki, Cupertino, CA (US); Ravi Teja Sukhavasi, Fremont, CA (US); Oleg Naroditsky, San Francisco, CA (US); Stergios Roumeliotis, Los Altos Hills, CA (US); and Daniel C Byrnes, San Francisco, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Sep. 13, 2023, as Appl. No. 18/466,379.
Claims priority of provisional application 63/375,840, filed on Sep. 15, 2022.
Prior Publication US 2024/0095958 A1, Mar. 21, 2024
Int. Cl. H04N 5/247 (2006.01); G06T 7/00 (2017.01); G06T 7/20 (2017.01); G06T 7/80 (2017.01); G06V 10/74 (2022.01); H04N 23/695 (2023.01)
CPC G06T 7/80 (2017.01) [G06T 7/0002 (2013.01); G06T 7/20 (2013.01); G06V 10/761 (2022.01); H04N 23/695 (2023.01); G06T 2207/30168 (2013.01); G06V 2201/07 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A device, comprising:
a camera;
an inertial measurement unit;
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:
determine points of interest within images captured by the camera over a plurality of moments in time;
track the points of interest over the plurality of moments in time;
perform a calibration process for the camera, wherein:
the tracked points of interest are provided as input to the calibration process; and
the calibration process comprises:
a first stage, wherein:
 the first stage comprises estimating one or more extrinsic parameters of the camera; and
 the estimating is based, at least in part, on information from the inertial measurement unit for the plurality of moments in time and on the tracked points of interest; and
a second stage, wherein:
 the second stage comprises concurrently determining the one or more extrinsic parameters of the camera and one or more intrinsic parameters of the camera; and
 the estimated one or more extrinsic parameters of the first stage are used in said concurrently determining of the second stage; and
provide results of the calibration process.