Patent Document ID: 20170103509
Application ID: 14878267
Patent Flag: 0

Claim One:
1. A system comprising: a calibration device: a projector, and a camera, a field of view of the camera at least partially overlapping a projection area of the projector; the calibration device configured to: control the projector to project a projector image; receive a camera image from the camera, the camera image comprising the projector image as captured by the camera; determine a correspondence map between respective pixels of each of the projector image and the camera image in fewer than one hundred percent of pixels of the projector image by: using feature extraction to match features in the projector image and the camera image in the fewer than one hundred percent of the pixels in areas of the projector image; and, discarding the features that are indistinguishable from each other such that pixels in areas of the projector image associated with indistinguishable features are not mapped; determine an initial estimate of a fundamental matrix from the correspondence map, the fundamental matrix mapping each projector pixel to a line in the camera image; determine an initial estimate of intrinsic properties of the projector and the camera by using one or more closed-form solutions, the one or more closed form solutions comprising one or more of a function F1(fp,fc,pp,pc,FM)=0 and a function F2(fp,fc,FM)=0 where: fp comprises an estimated focal length of the projector, fc comprises an estimated focal length of the camera, pp comprises an estimated principal point of the projector, pc comprises an estimated principal point of the camera, and FM is the initial estimate of the fundamental matrix; iteratively determine an error-function based on the correspondence map using the fundamental matrix while adding constraints on the respective intrinsic properties by: using the one or more closed-form solutions; and using the initial estimate of the fundamental matrix and the initial estimate of intrinsic properties of the projector and the camera as initial input to one or more of the function F1 and the function F2; and, when the error-function reaches an acceptance value, determine respective intrinsic properties and respective extrinsic properties of the projector and the camera from current values of iterative estimates by: first determining the respective intrinsic properties; and then determining the respective extrinsic properties from the respective intrinsic properties and current values of the fundamental matrix obtained in the iterative processing of the error-function.