- Number
- 10484670
- Published
- 2019-11-19
- Filed
- 2018-03-02
- Assignee
- Disney Enterprises, Inc.
- Inventors
- Beardsley; Paul, Mora; Javier Alonso
- CPC
- G02B17/061; G02B27/0012; G06T7/85; H04N13/243; H04N13/286; H04N13/296; H04N23/51
- Verdict
- Medium Hardware
- Source
- Google Patents · FreePatentsOnline
The keeper's note
Stereoscopic imaging systems/apparatus (camera hardware).
Abstract
An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.
Background
FIELD OF THE DISCLOSURE(1) This disclosure relates to systems, methods, and apparatuses for stereoscopic imaging.BACKGROUND(2) Robots may be used for entertainment, utilitarian, and/or other purposes. A plurality of robots may be deployed in an environment and programmed to carry out one or more tasks. A plurality of robots in such a scenario may be referred to as a “robot swarm.” It is often desired for the robots within the swarm to be “aware” of each other. Individual ones of the robots and/or a central processing unit may carry out localization processes including determining relative location, speed, direction of movement, and/or other information about individual ones of the robots. A tracking system may be used for localization. Tracking systems include, for example, onboard tracking systems, external tracking systems, optical tracking (e.g., camera tracking/imaging), wireless communication systems established between two or more robots and/or between a robot and a central processor, global positioning systems (CPS), and/or other system.(3) By way of non-limiting example, tracking may be accomplished by optical tracking systems including one or more cameras and/or processors configured to determine information about the location, speed, direction of movement, and/or other localization parameters about objects from captured images/video. Optical tracking systems may provide millimeter-accuracy localization of robots or other objects within an environment. However, optic
Claims
1. A method to calibrate an omnidirectional stereo camera apparatus, the omnidirectional stereo camera apparatus comprising a first convex mirror and a first camera disposed behind the first convex mirror, a second convex mirror and a second camera disposed behind the second convex mirror, the first convex mirror and the second convex mirror being arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror face each other, wherein the first camera captures imagery reflected off the second convex mirror and the second camera captures imagery reflected off the first convex mirror, the method being implemented in a computer system including one or more physical processors and storage media storing machine-readable instructions, the method comprising: estimating a first system model, the first system model comprising estimations of one or more of a first shape of the first convex mirror, a first position of the first convex mirror, a second shape of the second convex mirror, a second position of the second convex mirror, a third position of the first camera, or a fourth position of the second camera; obtaining imagery captured by the first camera and the second camera depicting a reference object, the reference object being positioned in three-dimensional space adjacent the omnidirectional stereo camera, the imagery including a first image comprising a first representation of the reference object captured by the first camera and a second image comprising a second representation of the reference object captured by the second camera; determining first position information corresponding to the first representation of the reference object in the first image and second position information corresponding to the second representation of the reference object in the second image; estimating a reconstruction of the reference object based on the first system model, the first position information, and the second position information; reprojecting the reconstruction of the reference object onto image planes, such that the reconstruction of the reference object is reprojected onto a first plane and a second plane; determining third position information corresponding to the reprojected reference object in the first plane and fourth position information corresponding to the reprojected reference object in the second plane; and updating the system model based on the reprojections, such that the first system model is updated based on one or both of a first difference between the first position information and the third position information, or a second difference between the second position information and the fourth position information.
2. The method of claim 1, further comprising: estimating a second reconstruction of the reference object based on the updated first system model, the first position information, and the second position information; reprojecting the second reconstruction of the reference object onto image planes, such that the second reconstruction of the reference object is reprojected onto a third plane and a fourth plane; determining fifth position information corresponding to the reprojected reference object in the third plane and sixth position information corresponding to the reprojected reference object in the fourth plane; and updating the updated first system model based on the reprojections onto the third plane and the fourth plane, such that the updated first system model is further updated based on one or both of a third difference between the first position information and the fifth position information, or a fourth difference between the second position information and the sixth position information.
3. The method of claim 1, wherein the estimations of mirror shapes correspond to mirror shapes having central intersection points.
4. The method of claim 1, wherein the first system model is configured such that the estimated shapes of one or both of the first convex mirror or the second convex mirror correspond to a hyperbolic model defined by discrete hyperbolas spaced at discrete steps.
5. The method of claim 1, wherein the first system model is configured such that the estimated shapes of one or both of the first convex mirror or the second convex mirror correspond to a polynomial assuming radial symmetry.
6. The method of claim 1, wherein the first system model is configured such that the estimated shapes of one or both of the first convex mirror or the second convex mirror correspond to a polynomial assuming radial asymmetry.
7. The method of claim 1, wherein the first system model is configured such that one or more of the first position of the first convex mirror, the second position of the second convex mirror, the third position of the first camera, or the fourth position of the second camera are specified with respect to a fixed origin position of the first system model.
8. The method of claim 1, wherein the omnidirectional stereo camera apparatus is configured without obstruction of a space between the first mirrored surface and the second mirrored structure.