Patent ID: 9674504
Date: 2017-06-06
CPC Classifications: G01S,G06K,G06T,H04N

Claim:
1. A method for detecting decalibration of a depth camera system comprising a first camera, a second camera, and a third camera, the first, second, and third cameras having substantially overlapping fields of view in a direction, the method comprising: detecting a feature in a first image captured by the first camera; detecting the feature in a second image captured by the second camera; detecting the feature in a third image captured by the third camera, the third camera being non-collinear with the first and second cameras; identifying a first conjugate epipolar line in the second image in accordance with a detected location of the feature in the first image and a plurality of calibration parameters; identifying a second conjugate epipolar line in the second image in accordance with a detected location of the feature in the third image and the plurality of calibration parameters; calculating a difference between a detected location of the feature in the second image and the first and second conjugate epipolar lines; and outputting an indication that the depth camera system is decalibrated in response to the difference exceeding a threshold.