Abstract:
An arbitrary object and its image in a plane mirror constitute a bilaterally symmetric structure. When the structure is viewed by a single camera, the correspondence betw...Show MoreMetadata
Abstract:
An arbitrary object and its image in a plane mirror constitute a bilaterally symmetric structure. When the structure is viewed by a single camera, the correspondence between the object and its counterpart in the mirror is auto-epipolar in one image taken by the camera and can be computed in a way similar to that for stereo vision. The 3D structure of the object is therefore recoverable from the single image. In this paper, a 3D-reconstruction algorithm derived from this theory is verified using different objects in front of a mirror observed by a calibrated camera. Very good experimental results are presented. Remarks on tackling the limitation of the present scheme are also given.
Published in: Proceedings. Fourteenth International Conference on Pattern Recognition (Cat. No.98EX170)
Date of Conference: 20-20 August 1998
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-8186-8512-3
Print ISSN: 1051-4651
Citations are not available for this document.
Cites in Patents (7)Patent Links Provided by 1790 Analytics
1.
Torma, Peter, "Methods and computer program products for calibrating stereo imaging systems by using a planar mirror"
Inventors:
Torma, Peter
Abstract:
A method is provided for calibrating a stereo imaging system by using at least one camera and a planar mirror. The method involves obtaining at least two images with the camera, each of the images being captured from a different camera position and containing the mirror view of the camera and a mirror view of an object, thereby obtaining multiple views of the object. The method further involves finding the center of the picture of the camera in each of the images, obtaining a relative focal length of the camera, determining an aspect ratio in each of the images, determining the mirror plane equation in the coordinate system of the camera, defining an up-vector in the mirror's plane, selecting a reference point in the mirror's plane, determining the coordinate transformation from the coordinate system of the image capturing camera into the mirror coordinate system, and determining a coordinate transformation.
Assignee:
LATERAL REALITY KFT
Filing Date:
21 June 2019
Grant Date:
18 May 2021
Patent Classes:
Current International Class:
G06T0078000000, G06T0075930000, H04N0132110000, H04N0132460000, H04N0132360000, H04N0132820000, G06T0076000000, G06T0150800000, G06T0077000000, H04N0132210000
2.
Torma, Peter, "Methods and computer program products for calibrating stereo imaging systems by using a planar mirror"
Inventors:
Torma, Peter
Abstract:
Production of calibrated stereo images and more particularly methods of producing calibrated stereo images by using a planar mirror and computer program products to carry out the methods. By using mirrored view(s) of at least one camera with multiple (different) mirrored views of an object in one or more captured images, the 3D coordinates of a point in real space with respect to the mirror's coordinate system can be easily determined even if the mirror's coordinate system is not known in advance. Additionally, the real distance between two selected spatial points appearing in one or more captured images can be determined on the basis of their corresponding image points. The invention includes the steps of finding a reference coordinate system by using the captured images, and then determining the transformations between the reference coordinate system and the camera coordinate system, as described in greater detail herein.
Assignee:
LATERAL REALITY KFT
Filing Date:
07 March 2017
Grant Date:
24 November 2020
Patent Classes:
Current International Class:
G06T0078000000, G06T0075930000, H04N0132110000, H04N0132460000, H04N0132360000, H04N0132820000, G06T0076000000, G06T0150800000, G06T0077000000
3.
Torma, Peter, "Methods and computer program products for calibrating stereo imaging systems by using a planar mirror"
Inventors:
Torma, Peter
Abstract:
A method is provided for calibrating a stereo imaging system by using at least one camera and a planar mirror. The method involves obtaining at least two images with the camera, each of the images being captured from a different camera position and containing the mirror view of the camera and a mirror view of an object, thereby obtaining multiple views of the object. The method further involves finding the center of the picture of the camera in each of the images, obtaining a relative focal length of the camera, determining an aspect ratio in each of the images, determining the mirror plane equation in the coordinate system of the camera, defining an up-vector in the mirror's plane, selecting a reference point in the mirror's plane, determining the coordinate transformation from the coordinate system of the image capturing camera into the mirror coordinate system, and determining a coordinate transformation.
Assignee:
LATERAL REALITY KFT
Filing Date:
18 March 2016
Grant Date:
06 August 2019
Patent Classes:
Current International Class:
G06T0076000000, G06T0077000000, G06T0078000000, G06T0150800000, G06T0075930000, H04N0132110000, H04N0132360000, H04N0132460000, H04N0132820000
4.
TORMA, Peter, "METHODS AND COMPUTER PROGRAM PRODUCTS FOR CALIBRATING STEREO IMAGING SYSTEMS BY USING A PLANAR MIRROR"
Inventors:
TORMA, Peter
Abstract:
The method for calibrating a stereo imaging system by using at least one camera, each carried by a respective camera device, and a planar mirror, comprises the steps of: - obtaining at least two images by means of said at least one camera (S200), each of the images being captured from a different camera position and containing pictures of a mirrored view of the camera used to capture the image, and a mirrored view of an object, thereby obtaining multiple views of said object, - finding the center of the picture of the mirrored view of the image-capturing camera in each of the images (S202), - obtaining a focal length in pixels of the at least one camera (S204), - determining the direction of the mirror's normal vector from the center of the mirrored view of the image-capturing camera (S206) - determining the distance between the camera and the mirror for each of the images by using (i) a reference point on the camera device, said reference point having known coordinates in the camera coordinate system, and (ii) the coordinates of the corresponding point of the mirrored view of the camera device (S208), - determining the mirror plane equation in the coordinate system of the at least one camera by using the direction and the distance of the mirror plane's normal and the focal length in pixels of the camera (S210), - defining an up-vector in the mirror's plane (S212), - selecting a reference point in the mirror's plane (S214), - defining a reference coordinate system with said reference point as its origo and said up- vector as its vertical y-axis (S216), - for each image, separately determining the coordinate transformation from the coordinate system of the image-capturing camera into a mirror coordinate system (S218), - for each image, determining the transformation from the respective mirror coordinate system into said reference coordinate system (S219), and - for any pair of images, determining the coordinate transformation from the camera coordinate system of the first image-capturing position into the camera coordinate system of the second image-capturing position (S220).
Assignee:
LATERAL REALITY KFT
Filing Date:
07 March 2017
Grant Date:
14 September 2017
Patent Classes:
Current International Class:
G06T0078000000000
5.
Gluckman, Joshua M.; Nayar, Shree K., "RECTIFIED CATADIOPTRIC STEREO SENSORS"
Inventors:
Gluckman, Joshua M.; Nayar, Shree K.
Abstract:
The invention presents catadioptric (single-camera) sensors using one or more mirrors to produce rectified stereoscopic images. By combining multiple views (using the mirrors) to form a composite stereo image that is already rectified (i.e., has scan-line correspondence), the invention aids provision of real-time stereo images by avoiding computational cost and image degradation due to computer-rectification-related resampling when rectifying. The invention specifies the number of mirrors that must be used and the geometric/locational constraints on those mirrors that must be substantially satisfied to obtain rectified stereo images with a single camera. The invention also discloses specific configurational techniques for how the mirrors should be placed to minimize sensor size. The configurational/geometric parameters disclosed enable cost-efficient, compact, and error-tolerant single-camera stereoscopic image sensing system and methods, removing the need for computer-controlled image rectifying steps and allowing for convenient computerized capture, processing, manipulation, storage, and transmission of stereo images.
Assignee:
THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK
Filing Date:
13 December 2000
Grant Date:
04 May 2010
Patent Classes:
Current U.S. Class:
348046000, 348036000
Current International Class:
H04N0130200, H04N0070000
6.
GLUCKMAN, Joshua M.; NAYAR, Shree K., "RECTIFIED CATADIOPTRIC STEREO SENSORS"
Inventors:
GLUCKMAN, Joshua M.; NAYAR, Shree K.
Abstract:
The invention presents catadioptric (single-camera) sensors using one or more mirrors (1-5) to produce rectified stereoscopic images. By combining multiple views (using the mirrors) to form a composite stereo image that is already rectified (i.e., has scan-line correspondence), the invention aids provision of real-time stereo images by avoiding computational cost and image degradation due to computer-rectification-related resampling when rectifying. The invention specifies the number of mirrors (1-5) that must be used and the geometric/locational constraints on those mirrors that must be substantially satisfied to obtain rectified stereo images with a single camera. The invention also discloses specific configurational techniques for how the mirrors should be placed to minimize sensor size. The configurational/geometric parameters disclosed enable cost-efficient, compact, and error-tolerant single-camera stereoscopic image sensing system and methods, removing the need for computer-controlled image rectifying steps and allowing for convenient computerized capture, processing, manipulation, storage, and transmission of stereo images.
Assignee:
THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK
Filing Date:
13 December 2000
Grant Date:
18 September 2002
Patent Classes:
Current International Class:
G03B0351000000, G02B0170000000, G02B0272200000, H04N0130000000, H04N0130200000
7.
Chen, Jingyang, "INSTANCE BASED MIRRORING METHOD IN FEATURE MODELING"
Inventors:
Chen, Jingyang
Abstract:
A method, apparatus and article of manufacture for mirroring a part model within a computer aided design computer system. A physical body, which is not directly accessible to the user is used for boundary representation of the non-mirrored part model, and a special mirror transformed instance of the physical body, called the logical body, is presented to the user. The logical body is a mirrored boundary representations of the same part model, and is not persistent to conserve computer resources. The invention uses face, edge, and vertex mapping to communicate between the two bodies, and uses matrix multiplication to perform the mirroring transformation.
Assignee:
AUTODESK INC
Filing Date:
08 September 1998
Grant Date:
03 April 2001
Patent Classes:
Current U.S. Class:
703002000, 345619000, 700098000
Current International Class:
G06F0171600000
