The present invention discloses a multispectral stereo camera self-calibration algorithm based on track feature registration, and belongs to the field of image processing and computer vision. Optimal matching points are obtained by extracting and matching motion tracks of objects, and external parameters are corrected accordingly. Compared with an ordinary method, the present invention uses the tracks of moving objects as the features required for self-calibration. The advantage of using the tracks is good cross-modal robustness. In addition, direct matching of the tracks also saves the steps of extraction and matching the feature points, thereby achieving the advantages of simple operation and accurate results.

The present invention discloses a multispectral stereo camera self-calibration algorithm based on track feature registration, and belongs to the field of image processing and computer vision. Optimal matching points are obtained by extracting and matching motion tracks of objects, and external parameters are corrected accordingly. Compared with an ordinary method, the present invention uses the tracks of moving objects as the features required for self-calibration. The advantage of using the tracks is good cross-modal robustness. In addition, direct matching of the tracks also saves the steps of extraction and matching the feature points, thereby achieving the advantages of simple operation and accurate results.

Camera compensation methods and systems that compensate for misalignment of sensors/camera in stereoscopic camera systems. The compensation includes identifying a pitch angle offset between a first camera and a second camera, determining misalignment of the first and second cameras from the identified pitch angle offset, determining a relative compensation delay responsive to the determined misalignment, introducing the relative compensation delay to image streams produced by the cameras, and producing a stereoscopic image on a display from the first and second image streams with the introduced delay.

Camera compensation methods and systems that compensate for misalignment of sensors/camera in stereoscopic camera systems. The compensation includes identifying a pitch angle offset between a first camera and a second camera, determining misalignment of the first and second cameras from the identified pitch angle offset, determining a relative compensation delay responsive to the determined misalignment, introducing the relative compensation delay to image streams produced by the cameras, and producing a stereoscopic image on a display from the first and second image streams with the introduced delay.

A camera monitoring system for a bore based medical apparatus is described, wherein the camera monitoring system comprises a first and a second image sensor mounted on opposing surfaces of a circuit board. The first image sensor is arranged to view an object from a first viewpoint via a first lens arrangement and a first mirror and the second image sensor is arranged to view the object from a second viewpoint via a second lens arrangement and a second mirror. By having the image sensors view an object via the mirrors, via the lens arrangements, the lens arrangements contribute to the effective separation of the first and second viewpoints enabling the size of the housing of the camera to be reduced. Furthermore, a method for calibrating a camera monitoring system in a bore based setup is described and also a configuration of arranging a camera monitoring system in connection with a bore based medical apparatus.

A camera monitoring system for a bore based medical apparatus is described, wherein the camera monitoring system comprises a first and a second image sensor mounted on opposing surfaces of a circuit board. The first image sensor is arranged to view an object from a first viewpoint via a first lens arrangement and a first mirror and the second image sensor is arranged to view the object from a second viewpoint via a second lens arrangement and a second mirror. By having the image sensors view an object via the mirrors, via the lens arrangements, the lens arrangements contribute to the effective separation of the first and second viewpoints enabling the size of the housing of the camera to be reduced. Furthermore, a method for calibrating a camera monitoring system in a bore based setup is described and also a configuration of arranging a camera monitoring system in connection with a bore based medical apparatus.

A method includes receiving, from a multiscopic image capture system, a plurality of images depicting a scene. The method includes determining, by application of a neural network based on the plurality of images, a disparity map of the scene. The neural network includes a plurality of layers, and the layers include a rectification layer. The method include determining a matching error of the disparity map based on differences between corresponding pixels of two or more images associated with the disparity map. The method includes back-propagating the matching error to the rectification layer of the neural network. Back-propagating the matching error includes updating one or more weights applied to the rectification layer.

A method includes receiving, from a multiscopic image capture system, a plurality of images depicting a scene. The method includes determining, by application of a neural network based on the plurality of images, a disparity map of the scene. The neural network includes a plurality of layers, and the layers include a rectification layer. The method include determining a matching error of the disparity map based on differences between corresponding pixels of two or more images associated with the disparity map. The method includes back-propagating the matching error to the rectification layer of the neural network. Back-propagating the matching error includes updating one or more weights applied to the rectification layer.

A triangulation scanner having a projection unit, at least one first image acquisition unit and one second image acquisition unit and a control and processing unit for deriving distance measured values from image information. The scanner comprises a third image acquisition unit and a fourth image acquisition unit and an acquisition zoom functionality for activating or reading out the sensors such that a respective first acquisition state and a respective second acquisition state can be provided for each sensor. The acquisition of an image corresponding to a field of view defined by the respective acquisition zoom level is provided by each such acquisition zoom level thus definable, wherein the fields of view are each different.

A triangulation scanner having a projection unit, at least one first image acquisition unit and one second image acquisition unit and a control and processing unit for deriving distance measured values from image information. The scanner comprises a third image acquisition unit and a fourth image acquisition unit and an acquisition zoom functionality for activating or reading out the sensors such that a respective first acquisition state and a respective second acquisition state can be provided for each sensor. The acquisition of an image corresponding to a field of view defined by the respective acquisition zoom level is provided by each such acquisition zoom level thus definable, wherein the fields of view are each different.