公开(公告)号：US20240104778A1

公开(公告)日：2024-03-28

申请号：US18466426

申请日：2023-09-13

Applicant: Apple Inc.

Inventor： Tianheng Wang ,  Stergios Roumeliotis ,  Shuntaro Yamazaki ,  Oleg Naroditsky

IPC: G06T7/80 ,  G02B27/01 ,  H04N13/246

CPC classification number: G06T7/85 ,  G02B27/0172 ,  H04N13/246 ,  G02B2027/0134

Abstract: Methods for performing a camera calibration process for outward-facing cameras on devices such as head-mounted display devices are disclosed. Using cameras with overlapping fields of view, relative rotational parameters of the cameras with respect to one another may be determined using an optimization technique such as a two-view bundle adjustment algorithm. A statistical analysis of the relative rotational parameters of the cameras, determined for a plurality of moments in time, may then be made to provide updated relative rotational parameters for recalibration of the cameras. A camera calibration process, such as those disclosed, may not depend on tracking points of interest over multiple moments in time, but rather on a convergence of the relative rotational parameters determined for respective moments in time.