公开(公告)号：US20210352259A1

公开(公告)日：2021-11-11

申请号：US17380391

申请日：2021-07-20

Applicant: NODAR Inc.

Inventor： Leaf Alden Jiang ,  Philip Bradley Rosen ,  Piotr Swierczynski

IPC: H04N13/246 ,  H04N13/239 ,  H04N13/282 ,  H04N13/254 ,  G06T7/579

Abstract: A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.

公开(公告)号：US11782145B1

公开(公告)日：2023-10-10

申请号：US17867826

申请日：2022-07-19

Applicant: NODAR Inc.

Inventor： Piotr Swierczynski ,  Leaf Alden Jiang ,  Matthew Beveridge

IPC: G01S7/497 ,  G01S17/894 ,  G06T7/80 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S17/894 ,  G01S17/931 ,  G06T7/85 ,  G06T2207/10028

Abstract: An automatically calibrated vision system includes: a vision calibration system; a first sensor system that receives first data of a scene captured by a first sensor on a movable machine and outputs a first map based on the first data; a second sensor system that receives second data of the scene captured by a second sensor on the movable machine and outputs a second map based on the second data. The vision calibration system computes calibration data based on the first and second maps, supplies the calibration data to the first sensor system and/or the second sensor system for automatic calibration of the first sensor system and/or the second sensor system, and outputs, to a controller of the movable machine, a calibrated depth map comprised of depth measurements calibrated using the calibration data. The first sensor system and/or the second sensor system automatically perform(s) a self-calibration using the calibration data.

公开(公告)号：US20230005184A1

公开(公告)日：2023-01-05

申请号：US17693634

申请日：2022-03-14

Applicant: NODAR Inc.

Inventor： Leaf Alden Jiang ,  Philip Bradley Rosen ,  Piotr Swierczynski

IPC: G06T7/80 ,  G06T7/00 ,  G06T7/90 ,  G06T7/593 ,  H04N13/271 ,  H04N13/243 ,  B60W40/02 ,  H04N17/00 ,  G06T7/579 ,  H04N13/246 ,  H04N13/254 ,  H04N13/239 ,  H04N13/282 ,  G06V20/58

Abstract: A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.