Patent ID: 7990371

Claim:
Image distortion correction model for correcting an image distortion in a first distorted image and in a second distorted image of a stereoscopic image pair of an object being detected by an optical device, the image distortion correction model being defined by, f c X ⁡ ( X , Y ) = a 00 + a 01 ⁢ x ′ + a 20 ⁢ x ′2 + a 30 ⁢ x ′3 + a 50 ⁢ x ′5 + a 02 ⁢ y ′2 + a 12 ⁢ x ′ ⁢ y ′2 + a 22 ⁢ x ′2 ⁢ y ′2 + a 32 ⁢ x ′3 ⁢ y ′2 + a 52 ⁢ x ′5 ⁢ y ′2 in a horizontal direction, and by, f c Y ⁡ ( X , Y ) = c 01 ⁢ y ′ + c 11 ⁢ x ′ ⁢ y ′ + c 21 ⁢ x ′2 ⁢ y ′ + c 30 ⁢ y ′3 + c 13 ⁢ x ′ ⁢ y ′3 + c 23 ⁢ x ′2 ⁢ y ′3 + c 05 ⁢ y ′5 + c 15 ⁢ x ′ ⁢ y ′5 + c 25 ⁢ x ′2 ⁢ y ′5 in a vertical direction, wherein x′ is defined by, x ′ = ( x - x 0 ) x max and y′ is defined by, y ′ = ( y - y 0 ) y max wherein x and y are the indices of a current pixel in each of said first distorted image and said second distorted image, wherein x 0 and y 0 define a center of distortion of said first distorted image and of said second distorted image, wherein x max is a distance along said horizontal direction, between a center of a substantially rectangular undistorted calculated image and a side of said substantially rectangular undistorted calculated image, said substantially rectangular undistorted calculated image being respective of said optical device, wherein y max is another distance along said vertical direction, between said center and another side of said substantially rectangular undistorted calculated image, wherein parameters a 00 , a 01 , a 20 , a 30 , a 50 , a 02 , a 12 , a 22 , a 32 , a 52 , c 01 , c 11 , c 21 , c 30 , c 13 , c 23 , c 05 , c 15 and c 25 are a set of coefficients which are determined by solving a set of simultaneous Equations for a set of points, each point having the indices x and y, said points being respective of a target being detected by said optical device, the coordinates of said points being known in a global coordinate system, wherein f c X (X,Y) designates a horizontal distortion of a point among said points, said horizontal distortion being along said horizontal direction, wherein f c Y (X,Y) designates a vertical distortion of said point along said vertical direction, and wherein x 0 and y 0 are set to an image center of said substantially rectangular undistorted calculated image.