Parametric calibration for panoramic camera systems
View Patent ↗Architecture for spatially calibrating a multi-sensor panoramic camera. A panorama warping calibration model and manufacturing calibration data is characterized in a parametric model that is stored on the camera and utilized for camera calibration. Calibration techniques can employ combinations of intra-camera homography, inter-camera homography, and polynomial warps, which correct the error-free spatial panorama warping calibration model. Calibration system configuration can include a stationary camera system for spatial pattern testing for each camera and a rotational camera system for rotating a multi-sensor panoramic camera through a single spatial pattern.
1. A system that facilitates spatial calibration of a multi-sensor panoramic camera, comprising:
a model component for generating a parametric model of data associated with the camera;
a storage component for storing the parametric model in association with the camera; and
a calibration component that employs the parametric model for spatial calibration of the camera.
2. The system of claim 1 , wherein the parametric model is specific to the camera and corrects for manufacturing errors.
3. The system of claim 1 , wherein the parametric model is stored on the camera.
4. The system of claim 1 , wherein the parametric model includes a polynomial and homography.
5. The system of claim 1 , wherein the calibration employs a non-parametric model in combination with the parametric model for spatial calibration of the camera.
6. The system of claim 1 , wherein the parametric model generated by the model component includes a homography process and a warp process which are employed for spatial calibration.
7. The system of claim 1 , wherein the calibration component employs a dual parametric approach associated with a seam region of multiple calibration images by applying a warp process for the seam region and the parametric model away from the seam region.
8. The system of claim 7 , wherein the warp process is characterized by a polynomial equation.
9. The system of claim 1 , wherein the calibration component employs an intra-camera homography that optimizes homography for each sensor independently.
10. The system of claim 1 , wherein the calibration component employs inter-camera homography that estimates homographies which minimize stitching error for all sensors substantially simultaneously.
11. The system of claim 1 , wherein the calibration component employs multiple homographies to correct for manufacturing errors in a camera model.
12. The system of claim 1 , further comprising a calibration system configuration for calibrating a multi-sensor camera system, the multi-sensor system mounted in a fixed position in the system configuration, and each sensor processes a single spatial calibration pattern.
13. The system of claim 1 , further comprising a calibration system configuration for calibrating a multi-sensor system of panoramic cameras, the multi-sensor system mounted on a rotation table in the system configuration, and each sensor is rotated to a single spatial calibration pattern.
14. A method of calibrating a multi-sensor panoramic camera system, comprising:
generating a parametric model of a panoramic camera, the model including at least one of diagnostics and manufacturing data;
storing the parametric model in a non-volatile memory of the camera; and
calibrating the camera spatially by processing a spatial calibration pattern through the camera using the parametric model.
15. The method of claim 14 , further comprising calibrating the multi-sensor system according to intra-camera homography by mapping pattern image points to panorama points.
16. The method of claim 14 , further comprising calibrating the multi-sensor system by estimating homographies that minimize stitching error for each of the panoramic cameras of the multi-sensor system substantially simultaneously.
17. The method of claim 14 , further comprising:
calibrating the multi-sensor system independent of a test pattern by employing a multi-person detection process; and
continuously updating calibration parameters based on changing conditions in which the multi-sensor system.
18. The method of claim 14 , further comprising solving for homography H with points located at least one of in an overlap region and mostly in the overlap region.
19. The method of claim 14 , further comprising performing sub-pixel calibration at a seam of two or more test pattern images using a generic warp function.
20. An article of manufacture comprising a storage medium containing instructions that when executed enable a system to:
receive manufacturing data that defines a manufacturing model associated with manufacture of a panoramic camera;
correct the manufacturing model using homography and warp functions against spatial test patterns to account for at least one of diagnostics and manufacturing data; and
store the modified manufacturing model as a parametric model in a non-volatile memory of the camera.