Abstract:
Vision-assist devices and methods for calibrating a position of a vision-assist device worn by a user are disclosed. In one embodiment, a method of calibrating a vision-assist device includes capturing a calibration image using at least one capturing device of the vision-assist device, obtaining at least one attribute of the calibration image, and comparing the at least one attribute of the calibration image with a reference attribute. The method further includes determining an adjustment of the at least one image sensor based at least in part on the comparison of the at least one attribute of the calibration image with the reference attribute, and providing an output corresponding to the determined adjustment of the vision-assist device.

Description:
TECHNICAL FIELD 
       [0001]    Embodiments described herein generally relate to vision-assist devices, and more specifically, to vision-assist devices that provide feedback to a user regarding proper orientation of the vision-assist device to provide accurate automatic detection regarding objects in an environment. 
       BACKGROUND 
       [0002]    Blind or visually impaired persons have difficulty navigating within their environment because of their inability to detect the location and type of objects within the environment. Blind or visually impaired persons often use a cane to assist them in navigating a space. Other devices may use computer-based vision systems to detect objects within an environment using one or more object recognition algorithms. Although computer-based vision systems are able to detect objects present within image data, such vision systems are often incorrect in the type of object that is detected. For example, an object recognition algorithm may require a proper field of view or orientation of the camera because an improper angle of the object within the environment may prevent the object recognition algorithm from properly identifying an object. For example, in a wearable vision-assist device, due to differences in body types of users, the device may be tilted, and the images captured by the device may be analyzed improperly and incorrect information may be conveyed to the user. 
         [0003]    Accordingly, alternative vision-assist devices for correcting the orientation of the vision-assist devices are desired. 
       SUMMARY 
       [0004]    In one embodiment, a method of calibrating a vision-assist device includes capturing a calibration image using at least one capturing device of the vision-assist device, obtaining at least one attribute of the calibration image, and comparing the at least one attribute of the calibration image with a reference attribute. The method further includes determining an adjustment of the at least one image sensor based at least in part on the comparison of the at least one attribute of the calibration image with the reference attribute, and providing an output corresponding to the determined adjustment of the vision-assist device. 
         [0005]    In another embodiment, a vision-assist device includes an image sensor configured to capture image data, a feedback device configured to provide feedback to a user, a processor, and a non-transitory computer-readable medium. The non-transitory computer-readable medium stores computer-readable instructions that, when executed by the processor, causes the processor to capture a calibration image using one or more image sensor of the vision-assist device, obtain at least one attribute of the calibration image, and compare the at least one attribute of the calibration image with a reference attribute. The computer-readable instructions further cause the processor to determine an adjustment of the at least one image sensor based at least in part on the comparison of the at least one attribute of the calibration image with the reference attribute, and provide feedback corresponding to the determined adjustment of the vision-assist device using the feedback device. 
         [0006]    These and additional features provided by the embodiments of the present disclosure will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0007]    The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the disclosure. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
           [0008]      FIG. 1  schematically depicts an example vision-assist device, according to one or more embodiments described and illustrated herein; 
           [0009]      FIG. 2  schematically depicts an example vision-assist device configured to be worn around the neck of a user, according to one or more embodiments described and illustrated herein; 
           [0010]      FIG. 3  schematically depicts the example vision-assist device of  FIG. 2  as worn by a user, according to one or more embodiments described and illustrated herein; 
           [0011]      FIG. 4  schematically depicts an example environment where a user may navigate; 
           [0012]      FIG. 5A  schematically depicts a tilted image of an exit sign captured by image sensors of a vision-assist device; 
           [0013]      FIG. 5B  schematically depicts a upright image of an exit sign after the image sensor being repositioned by the user; 
           [0014]      FIG. 6  graphically depicts a flowchart of an example calibration process executed by a processor according to one or more embodiments described and illustrated herein; 
           [0015]      FIG. 7A  schematically depicts an example image of a two-dimensional barcode used as a reference in calibrating a vision-assist device, wherein the example two-dimensional barcode is tilted due to an improperly worn vision-assist device according to one or more embodiments described and illustrated herein; 
           [0016]      FIG. 7B  schematically depicts an example image of a two-dimensional barcode used as a reference in calibrating a vision-assist device, wherein the example two-dimensional barcode is not tilted due to properly worn vision-assist device according to one or more embodiments described herein; and 
           [0017]      FIG. 8  schematically depicts an example image of a wall corner and ceiling that is tilted due to an improperly worn vision-assist device. 
       
    
    
     DETAILED DESCRIPTION 
       [0018]    Embodiments disclosed herein are directed to vision-assist device and related systems and methods that utilize one or more calibration images to provide feedback to blind or visually impaired individuals regarding how to accurately position the vision-assist device. Generally, embodiments described herein may be configured as devices that capture image data of the user&#39;s environment using one or more image sensors (e.g., one or more cameras), and perform object recognition analysis to detect objects or people within the user&#39;s environment. The information should be accurately conveyed to the blind or visually impaired individual as he or she navigates the environment according to the information. 
         [0019]    Embodiments described herein are configured to be worn by the user. For example, as shown in  FIG. 2 , a vision-assist device may be configured to be worn around the neck of a user. However, due to differences in body types of the users, the vision-assist device may be tilted or worn mistakenly, which may cause the images captured by the device to be analyzed improperly. For example, incorrect environmental information may be conveyed to the user when the vision-assist device fails to properly recognize objects in the environment. The user may not realize that the information is incorrect and may follow incorrect instruction from the vision-assist device. Further, even if the user realizes that the information from the vision-assist device is incorrect, he or she may not know how to calibrate (i.e., adjust) the vision-assist device. 
         [0020]    Embodiments described herein use one or more calibration processes to ensure that the vision-assist device is properly worn by the user. As described in more detail below, in one non-limiting example, an object held by a user is used in a calibration image to generate feedback to the user as to how to orientate the vision-assist device. In another example, the vision-assist device captures one or more images of an edge defined by a wall, a ceiling, and/or a floor as a reference attribute to detect the orientation (i.e., “tilt”) of the vision-assist device. Some embodiments use an inertial measurement unit to detect the orientation or tilt of the vision-assist device. In some embodiments, body type information regarding the body of the user is acquired by the vision-assist device using one or more images of the user and/or inputs with respect to the body type. Using the body type information and the calibration image, the vision-assist device instructs him or her as how to adjust the vision-assist device. Various embodiments of vision-assist devices, systems and methods for adjusting vision-assist devices will be described in more detail below. 
         [0021]    Referring now to  FIG. 1 , components of an example vision-assist device  100  is schematically depicted. The vision-assist device  100  comprises a housing  180  in or on which internal components are disposed, such as one or more processors  110 , one or more image sensors  130 , one or more inertial measurement unit  140 , one or more audio devices  150 , and one or more user input devices  160 , and one or more memory components  170  storing computer-readable instructions. As described in more detail below, the housing  180  may take on any configuration and, in some embodiments, may be configured to be worn by the user, thereby freeing the user&#39;s hands as he or she operates the vision-assist device  100 . 
         [0022]    The memory component  170  may be configured as volatile and/or nonvolatile non-transitory computer readable medium and, as such, may include random access memory (including SRAM, DRAM, and/or other types of random access memory), flash memory, registers, compact discs (CD), digital versatile discs (DVD), magnetic disks, and/or other types of storage components. Additionally, the memory component  170  may be configured to store, among other things, operation logic, object recognition logic, and auditory message generation logic, as described in more detail below. The memory component  170  may also store data, such as image data captured by the one or more image sensors or externally acquired image data, for performing the object recognition analysis described hereinbelow. 
         [0023]    A local interface  120  is also included in the embodiment depicted by  FIG. 1 , and may be implemented as a bus or other interface to facilitate communication among the components of the vision-assist device  100 . Although not depicted in  FIG. 1 , the vision-assist device  100  may also include one or more network interface modules to connect the vision-assist device  100  to a remote computing device or a remote computer network. The network interface module may include any wired or wireless networking hardware, such as a modem, LAN port, wireless fidelity (Wi-Fi) card, WiMax card, mobile communications hardware, and/or other hardware for communicating with other networks and/or devices. 
         [0024]    The one or more processors  110  may include any processing component configured to receive information and execute instructions (such as from the memory component  170 ). Example processing components include, but are not limited to, one or more general purpose processors, microcontrollers, and/or application-specific integrated circuits. 
         [0025]    The one or more image sensors  130  are configured to capture image data of the environment (i.e., the “scene”) in which the vision-assist device  100  operates. The image data digitally represents the scene in which the vision-assist device  100  operates, such as objects and people within the scene. The image sensor  130  may be configured as any sensor operable to capture image data, such as, without limitation, a charged-coupled device image sensors or complementary metal-oxide-semiconductor sensors capable of detecting optical radiation having wavelengths in the visual spectrum, for example. The one or more image sensors  130  may be configured to detect optical radiation in wavelengths outside of the visual spectrum, such as wavelengths within the infrared spectrum. In some embodiments, two image sensors  130  are provided to create stereo image data capable of capturing depth information. 
         [0026]    The one or more inertial measurement units  140  may be configured to acquire the information with respect to the tilt or orientation of the vision-assist device  100 . The one or more inertial measurement units  140  are communicatively coupled to the processor  110  such that it provides orientation information of the vision assist device and therefore the one or more image sensors  130  to the processor  110 . 
         [0027]    The one or more auditory devices  150  may be configured as speakers capable of receiving auditory signals from the processor  110  (either directly or indirectly from other hardware, such as amplifiers, drivers, digital-to-analog converts, and the like) to produce an auditory message capable of being heard by the user. In some embodiments, the one or more auditory devices  150  include a first speaker and a second speaker so that the auditory message is provided to the user in stereo. The one or more auditory devices  150  may be configured to convey information on both the environment around the user and the manner in which the user should adjust the position of the vision-assist device  100  to provide for an optimal field of view for the one or more image sensors  130 . 
         [0028]    The one or more user input devices  160  are provided for the user to communicate with the vision-assist device  100 . The one or more user input devices  160  may be used by the user to complete tasks such as program preferences or settings, provide commands, and provide feedback to the vision-assist device  100 . The one or more user input devices  160  may take on any appropriate form. For example, the one or more user input devices  160  may be configured as a keyboard, buttons, switches, touch-sensitive pads, microphones, and the like. Any appropriate user input device may be utilized. As described in more detail below, the one or more user input devices  160  may be used by the user to provide input regarding body type information of the user. 
         [0029]    It should be understood that the vision-assist device  100  may include additional components not illustrated in  FIG. 1 , such as a power source, voltage regulators, analog-to-digital converters, digital-to-analog converters, drivers, signal conditioning circuits, electromagnetic filtering circuits, and the like. 
         [0030]    Referring now to  FIGS. 2 and 3 , a non-limiting, example vision-assist device  100  is schematically illustrated.  FIG. 2  illustrates the example vision-assist device  100  without a user, while  FIG. 3  illustrates the example vision-assist device of  FIG. 2  worn by a user  210 . Referring generally to both  FIGS. 2 and 3 , the example vision-assist device  100  has a necklace configuration intended to be worn around the neck of the user  210 . The housing  180  of the vision-assist device defines a neck portion  184 , a first chest portion  182 A, and a second chest portion  182 B. It should be understood that the housing  180  may be configured differently than what is illustrated in  FIGS. 2 and 3 , and that the housing  180  may take on different shapes and sizes in other embodiments. 
         [0031]    In some embodiments, the housing  180  is made from a pliable material, such as, without limitation, ethylene-vinyl acetate. In other embodiments, the housing  180  is made from a rigid material. 
         [0032]    Referring specifically to  FIG. 3 , the vision-assist device  100  is configured to be worn around the neck of the user  210  such that the neck portion  184  contacts, or is in close proximity to, the back of the user&#39;s neck. The first and second chest portions  182 A,  182 B are draped over the user&#39;s chest. In the illustrated example of  FIGS. 2 and 3 , the first chest portion  182 A includes a first audio device  150 A, a first image sensor  130 A, and a first user input device  160 A configured as a touch-sensitive pad or a plurality of mechanical buttons. Similarly, the second chest portion  182 B includes a second audio device  150 B, a second image sensor  130 B, and a first user input device  160 B. It should be understood that the arrangement of the various components within the housing  180  of the example vision-assist device  100  depicted in  FIGS. 2 and 3  are for illustrative purposes only, and that more or fewer components may be provided, or arranged in a manner that is different from the arrangement depicted in  FIGS. 2 and 3 . As a non-limiting, alternative arrangement, only one of the first or second chest portions  182 A,  182 B may include a user-input device, for example. In other embodiments, the first and second audio devices  150 A,  150 B are not disposed within the housing  180 , but rather are configured as headphones worn by the user. 
         [0033]    The first and second image sensors  130 A,  130 B are configured to capture image data to produce three-dimensional images of the scene as the user navigates the environment that are used by the object recognition algorithm(s) to detect objects and people, as described in detail below. As shown in  FIG. 3 , the first and second image sensors  130 A,  130 B are disposed with the first and second chest portions  182 A,  182 B such that they are forward-facing and capture image data of the scene directly in front of the user. In other embodiments, one or more additional image sensors may be disposed within the housing to provide image data in directions other than in front of the user  210 , such as to the right, left and/or rear of the user. 
         [0034]    When worn around the neck of the user, the vision-assist device may be tilted depending on the user&#39;s physical characteristics.  FIG. 3  shows one of the appropriate ways for the vision-assist device to be worn by a user. The first and second chest portions  182 A,  182 B extend along the user&#39;s chest perpendicular to the ground and are parallel to each other, so that the first and second image sensors  130 A,  130 B are forward-facing and can capture image data of the scene correctly in front of the user. However, if the user&#39;s body is very thick or thin, or the vision-assist device is worn differently, the first and second chest portions  182 A,  182 B may be tilted upward or downward and the first and second image sensors  130 A,  130 B may not be forward-facing. As another example, one of the chest portions may be higher than the other. Therefore, the image captured by a user may to be tilted. 
         [0035]    The first and second audio devices  150 A,  150 B produce auditory messages that are intended to be received by the user  210   
         [0036]    The auditory messages may provide menu navigation options to the user so that the user may program or otherwise set parameters of the vision-assist device  100 . Auditory messages also include environmental information about the scene, as described in detail below. Further as described below, the first and second audio device  150 A,  150 B may produce auditory messages instructing a user as to how to adjust the position of the vision-assist device  100  following a calibration procedure. Although two audio devices are illustrated, more or fewer audio devices may be provided. In some embodiments, a microphone is also provided as a user-input device to enable voice-control of the vision-assist device  100 . In this manner, the user may provide feedback to the vision assist device  100  using voice commands. As an example and not a limitation, first and/or second audio device  150 A,  150 B may be configured as a combination speaker/microphone device capable of both receiving voice commands and emitting auditory messages/sounds. 
         [0037]    Operation of a vision-assist device  100  will now be described.  FIG. 4  depicts a scene or environment  300  in which the user may navigate. For example, the environment  300  may be a store. Several objects and features are present within the illustrated environment  300 , such as a trashcan  301 , a men&#39;s restroom as indicated by a men&#39;s restroom sign  302 , a women&#39;s restroom as indicated by a woman&#39;s restroom sign  303 , walls  304 A and  304 B, floor  307 , an exit as indicated by an exit sign  306 , and a ceiling  308 . As the user navigates the environment  300 , the vision-assist device  100  captures image data and detects objects within the environment  300 . Using one or more object detection algorithms, the vision-assist device  100  detects objects within the environment  300  and provides feedback (e.g., auditory feedback, haptic feedback, and the like) as to such detected objects to the user of the vision-assist device  100 . 
         [0038]    Any known or yet-to-be-developed object recognition algorithms may be utilized to detect objects within the image data representing the environment. Example object recognition algorithms include, but are not limited to, edge detection algorithms, corner detection algorithms, blob detection algorithms, and feature description algorithms (e.g., scale-invariant feature transform (“SIFT”), speeded up robust features (“SURF”), gradient location and orientation histogram (“GLOH”), and the like. It should be understood that the phrase “object recognition algorithm” as used herein also includes facial recognition algorithms used to detect people present within image data. 
         [0039]    As noted hereinabove, if the vision-assist device is not worn properly by the user, the images captured by the one or more image sensors  130  may be improperly oriented, such as tilted. Improper orientation of the one or more image sensors  130  may adversely affect the ability of the vision-assist device to properly detect objects. If the vision-assist device  100  is not in a proper position when worn by the user, the vision-assist device  100  may not be able to provide accurate feedback to the user regarding objects in the environment  300 . Embodiments of the present disclosure provide for a calibration process to ensure that the vision-assist device  100  is properly worn by the user such that the one or more image sensors  130  have an optimal field of view of objects within the environment. 
         [0040]      FIG. 5A  depicts a tilted image of an exit sign  306  captured by one or more image sensors  130  when the vision-assist device  100  is improperly worn by the user. In the example of  FIG. 5A , the exit sign  306  is tiled by an angle α with respect to vertical (i.e., the y-axis). It should be understood that the image of objects may be tilted with respect to one or more axes depending on how the vision-assist device  100  is worn. The tilting of the exit sign  306  within the image captured by the one or more image sensors  130  may make it not recognizable or detectable by the one or more object recognition algorithms of the vision-assist device  100 . Thus, improper or no information may be relayed to the user by the vision-assist device  100 .  FIG. 5B  illustrates an exit sign  306  that is properly orientated within an image captured by the one or more image sensors  130  of a vision-assist device  100  that is properly worn by a user. The one or more object recognition algorithms may more readily detect that the image contains an exit sign because the image is not tilted. 
         [0041]    As noted hereinabove, embodiments of the present disclosure are directed to vision-assist devices  100  that are capable of performing a calibration process to ensure that the vision-assist device  100  is properly worn.  FIG. 6  depicts a flowchart  600  of an example calibration process executed by the processor  110  of the vision-assist device  100 . To start the calibration process, the user may provide an input to the vision-assist device  100  indicating that the user would like to initiate the calibration process. For example, the user may use input devices  160  to start the calibration process by pressing one or more buttons, or speaking an audible command. In some embodiments, the vision-assist device  100  provide auditory instructions (or haptic instructions) instructing the user to get into a proper position for the calibration process (block  610 ). In other embodiments, the vision-assist device  100  does not instruct the user to get into a proper position. Rather, it is assumed that the user is ready for the calibration process to begin. 
         [0042]    In one embodiment, the calibration process employs a hand-held object, or an object that is positioned at a known location, such as on a wall, on a table, or the like. As an example and not a limitation, the hand-held object may be a sign that is held by the user at an arm&#39;s length. The sign may include an image such as, without limitation, a two-dimensional barcode as depicted in  FIGS. 7A and 7B . In embodiments where the object is not a hand-held object, the object may be configured as a poster or other object that includes a two-dimensional barcode. It should be understood that the object may include images or features other than a two-dimensional barcode. 
         [0043]    In another embodiment, the vision-assist device  100  may instruct the user to orient his or herself toward a wall, an intersection of wall, or an intersection between wall(s), ceiling, and/or floor.  FIG. 4  depicts an intersection in the form of a corner  309  of a room.  FIG. 8  depicts a calibration image  800  of a corner  309  of the room. As described in more detail below, the intersection is used by the vision-assist device to determine whether or not it is properly oriented. 
         [0044]    At block  620 , the vision-assist device  100  captures one or more calibration images using the one or more image sensors  130  in response to the user&#39;s input requesting the start of the calibration process. The calibration image may be in the form of one or more static digital images, or a video made up of many sequential digital images. The calibration image(s) may be stored in the memory component  170 , for example. 
         [0045]    In the object embodiment (e.g., hand-held object) depicted in  FIG. 7A , the calibration image is an image of a calibration object, such as a hand-held object depicting a two-dimensional barcode. It should be understood that embodiments are not limited to two-dimensional barcodes. As shown in  FIG. 7A , the calibration image  700  is tilted due to an improper orientation of the vision-assist device  100 . In the embodiment depicted in  FIG. 8 , the calibration image is an image of the corner  309 . 
         [0046]    At block  630 , one or more attributes of the calibration image is determined. As an example and not a limitation, the one or more attributes of the calibration image may be an angle between a detected edge or feature of the calibration image and an axis, such as a vertical axis (e.g., the y-axis) or a horizontal axis (e.g., the x-axis). In the example depicted in  FIG. 7A , the calibration image  700  of the barcode is tilted by an angle α′ with respect to the vertical or y-axis. In the example depicted in  FIG. 8 , the corner  309  within the calibration image  800  is tilted by an angle α″ with respect to the vertical or y-axis. 
         [0047]    At block  640 , the one or more attributes of the calibration image (or images) is compared with one or more reference attributes. In the examples depicted in  FIGS. 7A and 8 , the reference attribute may be a reference angle that acts as a threshold for determining whether or not the vision-assist device is worn properly. As an example and not a limitation, the reference attribute may be an angle of 5 degrees with respect to a particular axis. If the angles α′ and α″ are greater than the reference attribute or angle (e.g., 5 degrees), the vision-assist device, using the processor, may determine that the vision-assist device is not worn properly by the user. 
         [0048]    In some embodiments, the calibration process optionally moves to block  650 , where body type information of the user is acquired. The body type information acquired at block  650  may be used by the processor of the vision-assist device to determine how to instruct the user to adjust the position of the vision-assist device. Particularly, in order to give the detailed instructions to the user, the processor  110  can acquire body type information (i.e., physical characteristics) of the user, such as height, weight, width of the neck, chest size, and the thickness of the body. The body type information can be acquired by the image of the user or by the input by the user. In some embodiments, the body type information is previously entered by the user and stored in the memory component  170 . Additional information regarding acquiring and using body type information for image sensor calibration is found in U.S. patent application Ser. No. 15/205,946, which is hereby incorporated by reference in its entirety. In other embodiments, body type information is not acquired and is not utilized by the processor  110  to determine an adjustment of the vision-assist device  100 . 
         [0049]    At block  660 , the processor  110  determines an adjustment of the vision-assist device  100  needed so that the vision-assist device is properly worn by the user. This determination is made by comparing the angle(s) of the attribute of the calibration image with that of the reference attribute. The processor  110  may use this angle (or angles) to determine the magnitude and the direction by which the vision-assist device  100  should be adjusted. In one example, three attributed represented by three angles with respect to three axes (e.g., the x-, y- and z-axes) are used to perform a calculation as to how to adjust the vision-assist device in three dimensions. Where body type information is acquired, the body type information may be utilized in the determination as to how to adjust the vision-assist device. 
         [0050]    At block  670 , feedback is provided to the user with respect to the determined adjustment of the vision-assist device that may be needed so that the vision-assist device has an optimum field of view. In one example, the vision-assist device  100  produces audio signals using the audio device  150  that instructs the user how to reposition or adjust the vision-assist device  100  on his or her body. As an example and not a limitation, the vision-assist device  100  may state: “Please tilt both ends of the device downward,” “Please tilt both ends of the device to the left,” “Please tilt the left end of the device upward,” and the like depending on the adjustment that is needed. It is noted that the way the instruction is communicated to the user is not limited to auditory instructions. As other non-limiting examples, the instructions may be communicated to the user through bone-conducting hardware worn by the user near his or her ears, or by haptic feedback by one or more vibration devices within the vision-assist device. 
         [0051]    After the user adjusts the vision-assist device  100  in accordance with the instructions, the user may wish to perform another calibration process to ensure that the adjustment of the vision-assist device  100  was effective. Accordingly, the steps of flowchart  600  may be repeated until the vision-assist device  100  is properly oriented on the user. 
         [0052]    After the position of the vision-assist device  100  is properly calibrated, the vision-assist device  100  may assist the user by properly detecting and advising the user as to objects as the user navigates the environment. 
         [0053]    It should now be understood that embodiments described herein are directed to vision assist devices configured to be worn by a user, and to be adjusted in accordance with a calibration procedure to ensure that the vision-assist device is properly worn by the user. By calibrating the position of the vision-assist device on the user, the field of view of one or more image sensors of the vision-assist device is improved such that the automatic object recognition of objects detected by the vision-assist device in the environment is also improved. In this manner, more accurate information can be conveyed to the user by vision-assist device. Further, a blind or visually impaired person may recognize if the vision-assist device is worn properly or not, and he or she can calibrate the position of the vision-assist device without the need for human assistance. 
         [0054]    While particular embodiments and aspects of the present disclosure have been illustrated and described herein, various other changes and modifications can be made without departing from the spirit and scope of the disclosure. Moreover, although various aspects have been described herein, such aspects need not be utilized in combination. Accordingly, it is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the embodiments shown and described herein. 
         [0055]    It should now be understood that embodiments disclosed herein includes systems, methods, and non-transitory computer-readable mediums for calibrating images. It should also be understood that these embodiments are merely exemplary and are not intended to limit the scope of this disclosure.