SEE Patent 2019-07-045 Jul 2019 10:19
SYSTEMS AND METHODS FOR IDENTIFYING POSE OF CAMERAS IN A SCENE
Described herein are systems and methods of determining a pose of a camera within a vehicle scene. In one embodiment, a method includes the initial step of capturing an image of the vehicle scene from the camera. At step, reference data indicative of the vehicle scene is loaded, the reference data includes positions and orientations of known features within the vehicle scene. Next, at step, the geometric appearance of one or more of the known features is identified within the image. Finally, at step, the three dimensional position and orientation of the camera relative to the known features identified in step c) is determined from the geometric appearance, and a pose of the camera within the vehicle scene is calculated.
[0015] The embodiments of the present invention described herein relate to determining a camera pose of a forward facing camera in a multi-camera vehicle monitoring system. In these embodiments, the scene to be imaged includes a driver of a vehicle, the interior of the vehicle/****pit, the forward road scene of the vehicle and optionally side and rear views from the vehicle. The vehicle may represent a commercial automobile, truck, earthmoving machine, airplane, jet or helicopter. However, it will be appreciated that the invention is applicable to other multi-camera monitoring systems.
https://worldwide.espacenet.com/publicationDetails/biblio?II=0&ND=3&adjacent=true&locale=en_EP&FT=D&date=20190704&CC=US&NR=2019206084A1&KC=A1#