US 12,470,682 B2
Wide-angle stereoscopic vision with cameras having different parameters
Patrice Roulet, Montreal (CA); Jocelyn Parent, Lavaltrie (CA); Pierre Konen, Saint-Bruno (CA); Simon Thibault, Quebec (CA); Pascale Nini, Orford (CA); Xiaojun Du, Montreal (CA); Valentin Bataille, Montreal (CA); and Jhinseok Lee, Montreal (CA)
Assigned to IMMERVISION, INC., Montrael (CA)
Filed by ImmerVision, Inc., Montreal (CA)
Filed on Apr. 12, 2024, as Appl. No. 18/633,662.
Application 18/633,662 is a continuation of application No. 17/989,069, filed on Nov. 17, 2022, granted, now 11,962,746.
Application 17/989,069 is a continuation of application No. 16/854,134, filed on Apr. 21, 2020, granted, now 11,528,464, issued on Dec. 13, 2022.
Application 16/854,134 is a continuation of application No. 15/903,872, filed on Feb. 23, 2018, granted, now 10,666,923, issued on May 26, 2020.
Claims priority of provisional application 62/463,350, filed on Feb. 24, 2017.
Prior Publication US 2024/0259543 A1, Aug. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 5/265 (2006.01); H04N 13/239 (2018.01); H04N 13/332 (2018.01); H04N 23/698 (2023.01); H04N 25/61 (2023.01)
CPC H04N 13/239 (2018.05) [H04N 13/332 (2018.05); H04N 23/698 (2023.01); H04N 25/61 (2023.01)] 17 Claims
OG exemplary drawing
 
1. A stereoscopic vision system for capturing a scene, the system comprising:
a. a first camera having a plurality of first imaging parameters and a first capture position relative to the scene, the first camera being configured to capture a first output image of the scene;
b. a second camera having a plurality of second imaging parameters and a second capture position relative to the scene, the second camera being configured to capture a second output image of the scene, the first and second capture positions being different from each other, one or more of the first imaging parameters being different from a corresponding one or more of the second imaging parameters, the first and second output images being different from each other according to the differing first and second capture positions and the one or more differing first and second imaging parameters;
c. a processing unit connected to the first and second cameras, the processing unit being configured to:
i. receive the first and second output images from respective first and second cameras, and
ii. process the first and second output images according to a geometrical difference due to parallax from the first and second capture positions and according to any remaining differences due to the one or more differing first and second imaging parameters, in order to produce first and second processed images,
 wherein the one or more differing first and second imaging parameters includes a difference in color spectrum between the first and second cameras, the first camera imaging in the visible spectrum and the second camera imaging in the infra-red spectrum and wherein when an object in the scene is more visible in one of the visible image from the visible camera or the infra-red image from the infra-red camera, the processing unit is further configured to:
iii. use, in both the first and second processed images, the same texture content for the object from the one of the visible image or the infra-red image in which the object is more visible,
 wherein the one or more differing first and second imaging parameters further includes either a difference in orientation of each of the first and second cameras, a difference in a field of view of each of the first and second cameras, a difference in a distortion profile of each of the first and second cameras, a difference in a frame rate of each of the first and second cameras or a difference in at least one of an exposure time, a gain, or an aperture size of each of the first and second cameras.