KR102261020B1 - 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스 - Google Patents

개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스 Download PDF

Info

Publication number
KR102261020B1
KR102261020B1 KR1020197001581A KR20197001581A KR102261020B1 KR 102261020 B1 KR102261020 B1 KR 102261020B1 KR 1020197001581 A KR1020197001581 A KR 1020197001581A KR 20197001581 A KR20197001581 A KR 20197001581A KR 102261020 B1 KR102261020 B1 KR 102261020B1
Authority
KR
South Korea
Prior art keywords
cameras
camera
target
movable platform
tessellated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020197001581A
Other languages
English (en)
Korean (ko)
Other versions
KR20190021342A (ko
Inventor
제프리 스티븐 크란스키
프레데릭 데니스 자이다
그레이스 베솜
그레이스 신-이 츠사이
제레미 에이. 그래타
지헹 지아
리 지앙
Original Assignee
매직 립, 인코포레이티드
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 매직 립, 인코포레이티드 filed Critical 매직 립, 인코포레이티드
Priority to KR1020217016447A priority Critical patent/KR102487546B1/ko
Publication of KR20190021342A publication Critical patent/KR20190021342A/ko
Application granted granted Critical
Publication of KR102261020B1 publication Critical patent/KR102261020B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H04N5/247—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/28—Conveyors with a load-conveying surface formed by a single flat belt, not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Image Analysis (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
KR1020197001581A 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스 Active KR102261020B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020217016447A KR102487546B1 (ko) 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662355805P 2016-06-28 2016-06-28
US62/355,805 2016-06-28
PCT/US2017/039600 WO2018005561A1 (en) 2016-06-28 2017-06-27 Improved camera calibration system, target, and process

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020217016447A Division KR102487546B1 (ko) 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스

Publications (2)

Publication Number Publication Date
KR20190021342A KR20190021342A (ko) 2019-03-05
KR102261020B1 true KR102261020B1 (ko) 2021-06-03

Family

ID=60675698

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020217016447A Active KR102487546B1 (ko) 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스
KR1020197001581A Active KR102261020B1 (ko) 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1020217016447A Active KR102487546B1 (ko) 2016-06-28 2017-06-27 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스

Country Status (5)

Country Link
US (2) US10547833B2 (enExample)
JP (2) JP6821714B2 (enExample)
KR (2) KR102487546B1 (enExample)
CN (2) CN109416744B (enExample)
WO (1) WO2018005561A1 (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210066031A (ko) * 2016-06-28 2021-06-04 매직 립, 인코포레이티드 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스
KR102794479B1 (ko) 2024-10-15 2025-04-14 김동현 복수개의 열화상카메라를 위한 저온, 상온, 고온 캘리브레이션 장치
KR102794485B1 (ko) 2024-10-21 2025-04-14 김동현 결로방지장치를 포함하는 열화상카메라를 위한 캘리브레이션 장치

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006004197A1 (de) * 2006-01-26 2007-08-09 Klett, Rolf, Dr.Dr. Verfahren und Vorrichtung zur Aufzeichnung von Körperbewegungen
US10675761B2 (en) 2016-10-14 2020-06-09 Magic Leap, Inc. Mode architecture for general purpose robotics
DE102018215491A1 (de) * 2018-09-12 2020-03-12 Robert Bosch Gmbh Verfahren zur Kalibrierung eines Erfassungssystems
WO2020101891A1 (en) 2018-11-12 2020-05-22 Magic Leap, Inc. Depth based dynamic vision sensor
WO2020101895A1 (en) 2018-11-12 2020-05-22 Magic Leap, Inc. Event-based camera with high-resolution frame output
WO2020101892A1 (en) 2018-11-12 2020-05-22 Magic Leap, Inc. Patch tracking image sensor
US12041380B2 (en) 2018-11-13 2024-07-16 Magic Leap, Inc. Event-based IR camera
JP7389116B2 (ja) 2018-11-15 2023-11-29 マジック リープ， インコーポレイテッド 深層ニューラルネットワーク姿勢推定システム
DE102018222796A1 (de) * 2018-12-21 2020-06-25 Conti Temic Microelectronic Gmbh Aufbau und Vermessung des Aufbaus zur Kalibrierung einer Kamera
WO2020163663A1 (en) 2019-02-07 2020-08-13 Magic Leap, Inc. Lightweight and low power cross reality device with high temporal resolution
CN120825567A (zh) 2019-02-07 2025-10-21 奇跃公司 具有无源深度提取的轻型交叉显示设备
IL264797B (en) * 2019-02-12 2021-06-30 Agent Video Intelligence Ltd A method for spatial registration of a camera
US10925687B2 (en) * 2019-07-12 2021-02-23 Synaptive Medical Inc. System and method for optical axis calibration
KR200491660Y1 (ko) * 2019-09-30 2020-05-13 (주)이즈미디어 Tof 카메라용 오차 보정 장치
KR200491661Y1 (ko) * 2019-09-30 2020-05-14 (주)이즈미디어 Tof 카메라용 유효성 검증 장치
CN110611770B (zh) * 2019-10-08 2021-07-30 凌云光技术股份有限公司 线阵相机行频与物体运动速度是否匹配的判断方法及系统
CN111758120A (zh) * 2019-10-18 2020-10-09 深圳市大疆创新科技有限公司 摄像装置的标定方法、系统、立体标定装置及存储介质
SE543841C2 (en) * 2019-12-19 2021-08-10 Husqvarna Ab A calibration device for a floor surfacing system
CN113330487B (zh) * 2019-12-30 2025-03-28 深圳引望智能技术有限公司 参数标定方法及装置
USD918944S1 (en) * 2020-05-01 2021-05-11 3M Innovative Properties Company Display screen with transitional graphical user interface
WO2021226282A1 (en) 2020-05-06 2021-11-11 Magic Leap, Inc. Convolution-based camera and display calibration
US11495085B2 (en) * 2020-07-13 2022-11-08 Sg Gaming, Inc. Gaming environment tracking system calibration
CN111815719B (zh) * 2020-07-20 2023-12-22 阿波罗智能技术(北京)有限公司 图像采集设备的外参数标定方法、装置、设备及存储介质
WO2022026609A1 (en) * 2020-07-29 2022-02-03 Magic Leap, Inc. Camera extrinsic calibration via ray intersections
US11582375B2 (en) * 2020-09-28 2023-02-14 Argo AI, LLC Enhanced pointing angle validation
DE102020212279B3 (de) * 2020-09-29 2021-10-28 Myestro Interactive Gmbh Vorrichtung zum Kalibrieren einer räumlichen Lage eines Zentrums einer Eintrittspupille einer Kamera, Kalibrierverfahren hierfür sowie System zur Bestimmung relativer Position von Zentren von Eintrittspupillen mindestens zweier Kameras, die an einem gemeinsamen Tragrahmen montiert sind, zueinander sowie Bestimmungsverfahren hierfür
DE102020212635A1 (de) 2020-10-07 2022-04-07 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Kalibrieren einer Kamera
JP7715405B2 (ja) * 2020-11-30 2025-07-30 日本電気株式会社 キャリブレーション方法、キャリブレーション装置、キャリブレーションシステム、及びコンピュータプログラム
US20240185464A1 (en) * 2021-03-24 2024-06-06 Sony Group Corporation Information processing device and information processing method
USD1043682S1 (en) * 2021-06-10 2024-09-24 Zappar Limited World marker mat
CA3230374A1 (en) 2021-08-29 2023-03-09 Quartus Engineering Incorporated Methods and systems of generating camera models for camera calibration
CN114152199B (zh) * 2021-12-14 2025-07-22 桂林理工大学 一种输送带上胶片尺寸视觉测量系统及其测量方法
CN116482612A (zh) * 2022-01-12 2023-07-25 佐臻股份有限公司 具深度或影像监视系统的架设方法
US20230237702A1 (en) * 2022-01-27 2023-07-27 Jorjin Technologies Inc. Method of deploying multiple monitoring devices
KR20240056079A (ko) 2022-10-21 2024-04-30 한국전기연구원 단일 동기신호식 복수 pwm 주파수 출력형 전력변환장치용 단위 모듈
US12432336B2 (en) * 2022-11-18 2025-09-30 Communications Test Design, Inc. System and methods to calibrate mobile device camera
CN116701501B (zh) * 2022-11-21 2024-04-12 荣耀终端有限公司 相机标定数据的加载方法、装置及终端设备
CN119887946B (zh) * 2025-01-02 2025-10-21 杭州电子科技大学 一种基于多传感器流水线全局相机外参坐标标记方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004159151A (ja) 2002-11-07 2004-06-03 Fujitsu Ltd パノラマ動画生成装置およびハイライトシーンの抽出装置
JP2014089168A (ja) 2012-10-30 2014-05-15 Hal-Design Laboratory Co Ltd カメラのキャリブレーション方法及びカメラのキャリブレーション装置
US20160182903A1 (en) 2014-12-19 2016-06-23 Disney Enterprises, Inc. Camera calibration

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6009359A (en) * 1996-09-18 1999-12-28 National Research Council Of Canada Mobile system for indoor 3-D mapping and creating virtual environments
US7015954B1 (en) * 1999-08-09 2006-03-21 Fuji Xerox Co., Ltd. Automatic video system using multiple cameras
JP3735344B2 (ja) 2002-12-27 2006-01-18 オリンパス株式会社 キャリブレーション装置、キャリブレーション方法、及びキャリブレーション用プログラム
WO2005115017A1 (en) * 2003-02-14 2005-12-01 Lee Charles C 3d camera system and method
WO2006084385A1 (en) 2005-02-11 2006-08-17 Macdonald Dettwiler & Associates Inc. 3d imaging system
US7796154B2 (en) * 2005-03-07 2010-09-14 International Business Machines Corporation Automatic multiscale image acquisition from a steerable camera
JP2006121750A (ja) * 2006-01-06 2006-05-11 Olympus Corp キャリブレーションパターンユニット
JP2007135218A (ja) * 2006-11-22 2007-05-31 Matsushita Electric Ind Co Ltd カメラ装置、カメラ校正システムおよびカメラ校正方法
US20110222757A1 (en) * 2010-03-10 2011-09-15 Gbo 3D Technology Pte. Ltd. Systems and methods for 2D image and spatial data capture for 3D stereo imaging
US8619248B2 (en) * 2012-04-05 2013-12-31 Geo Semiconductor Inc. System and method for calibrating ultra wide-angle lenses
US9001226B1 (en) 2012-12-04 2015-04-07 Lytro, Inc. Capturing and relighting images using multiple devices
US10032273B2 (en) * 2013-03-15 2018-07-24 Cognex Corporation Machine vision system calibration using inaccurate calibration targets
JP2014204198A (ja) * 2013-04-02 2014-10-27 キヤノン株式会社 画像処理装置、その制御方法及びプログラム
US9430822B2 (en) * 2013-06-14 2016-08-30 Microsoft Technology Licensing, Llc Mobile imaging platform calibration
US9210417B2 (en) * 2013-07-17 2015-12-08 Microsoft Technology Licensing, Llc Real-time registration of a stereo depth camera array
WO2015134958A1 (en) * 2014-03-07 2015-09-11 Magic Leap, Inc. Virtual and augmented reality systems and methods
US9251598B2 (en) * 2014-04-10 2016-02-02 GM Global Technology Operations LLC Vision-based multi-camera factory monitoring with dynamic integrity scoring
US9641830B2 (en) * 2014-04-08 2017-05-02 Lucasfilm Entertainment Company Ltd. Automated camera calibration methods and systems
US9307231B2 (en) * 2014-04-08 2016-04-05 Lucasfilm Entertainment Company Ltd. Calibration target for video processing
US9596459B2 (en) * 2014-09-05 2017-03-14 Intel Corporation Multi-target camera calibration
US9894350B2 (en) * 2015-02-24 2018-02-13 Nextvr Inc. Methods and apparatus related to capturing and/or rendering images
EP3404648A4 (en) * 2016-01-13 2019-01-23 Ricoh Company, Ltd. PROJECTION SYSTEM, IMAGE PROCESSING DEVICE, PROJECTION METHOD AND PROGRAM
CN109416744B (zh) * 2016-06-28 2023-12-15 奇跃公司 改进的相机校准系统、目标和过程

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004159151A (ja) 2002-11-07 2004-06-03 Fujitsu Ltd パノラマ動画生成装置およびハイライトシーンの抽出装置
JP2014089168A (ja) 2012-10-30 2014-05-15 Hal-Design Laboratory Co Ltd カメラのキャリブレーション方法及びカメラのキャリブレーション装置
US20160182903A1 (en) 2014-12-19 2016-06-23 Disney Enterprises, Inc. Camera calibration

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210066031A (ko) * 2016-06-28 2021-06-04 매직 립, 인코포레이티드 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스
US11503275B2 (en) 2016-06-28 2022-11-15 Magic Leap, Inc. Camera calibration system, target, and process
KR102487546B1 (ko) * 2016-06-28 2023-01-10 매직 립, 인코포레이티드 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스
KR102794479B1 (ko) 2024-10-15 2025-04-14 김동현 복수개의 열화상카메라를 위한 저온, 상온, 고온 캘리브레이션 장치
KR102794485B1 (ko) 2024-10-21 2025-04-14 김동현 결로방지장치를 포함하는 열화상카메라를 위한 캘리브레이션 장치

Also Published As

Publication number Publication date
US11503275B2 (en) 2022-11-15
KR102487546B1 (ko) 2023-01-10
CN109416744B (zh) 2023-12-15
CN109416744A (zh) 2019-03-01
WO2018005561A1 (en) 2018-01-04
KR20210066031A (ko) 2021-06-04
US10547833B2 (en) 2020-01-28
JP6821714B2 (ja) 2021-01-27
US20170374360A1 (en) 2017-12-28
JP7057454B2 (ja) 2022-04-19
JP2019530261A (ja) 2019-10-17
JP2021072634A (ja) 2021-05-06
KR20190021342A (ko) 2019-03-05
US20200128235A1 (en) 2020-04-23
CN117596385A (zh) 2024-02-23

Similar Documents

Publication Publication Date Title
KR102261020B1 (ko) 개선된 카메라 캘리브레이션 시스템, 타겟 및 프로세스
CN111179358B (zh) 标定方法、装置、设备及存储介质
US10924729B2 (en) Method and device for calibration
JP6507730B2 (ja) 座標変換パラメータ決定装置、座標変換パラメータ決定方法及び座標変換パラメータ決定用コンピュータプログラム
KR101121034B1 (ko) 복수의 이미지들로부터 카메라 파라미터를 얻기 위한 시스템과 방법 및 이들의 컴퓨터 프로그램 제품
CN110809786B (zh) 校准装置、校准图表、图表图案生成装置和校准方法
JP5580164B2 (ja) 光学情報処理装置、光学情報処理方法、光学情報処理システム、光学情報処理プログラム
CN105453546B (zh) 图像处理装置、图像处理系统和图像处理方法
US9519968B2 (en) Calibrating visual sensors using homography operators
US8797387B2 (en) Self calibrating stereo camera
CN108734738B (zh) 相机标定方法及装置
CN116524022B (zh) 偏移数据计算方法、图像融合方法、装置及电子设备
CN113362441A (zh) 三维重建方法、装置、计算机设备和存储介质
EP3144894B1 (en) Method and system for calibrating an image acquisition device and corresponding computer program product
KR20110073386A (ko) 형태의 불변 어파인 인식을 위한 방법 및 장치
CN111489384B (zh) 基于互视角的遮挡评估方法及装置、设备、系统和介质
CN111383252A (zh) 多相机目标追踪方法、系统、装置及存储介质
US9948926B2 (en) Method and apparatus for calibrating multiple cameras using mirrors
CN111383262B (zh) 遮挡检测方法、系统、电子终端以及存储介质
US12205328B2 (en) System for tracking camera and control method thereof
WO2023063088A1 (en) Method, apparatus, system and non-transitory computer readable medium for adaptively adjusting detection area
JP2024524249A (ja) 物体にシンボルを割り当てるシステム及び方法
HK40005346A (en) Improved camera calibration system, target, and process

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PA0302 Request for accelerated examination

St.27 status event code: A-1-2-D10-D17-exm-PA0302

St.27 status event code: A-1-2-D10-D16-exm-PA0302

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

PA0104 Divisional application for international application

St.27 status event code: A-0-1-A10-A18-div-PA0104

St.27 status event code: A-0-1-A10-A16-div-PA0104

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

R17-X000 Change to representative recorded

St.27 status event code: A-5-5-R10-R17-oth-X000