Patent Document ID: 20100020178
Application ID: 12518650
Patent Flag: 0

Claim One:
1. A method of calibrating a camera system ( 700 ) which is capable of recording at least two images simultaneously, the method comprising the step of processing a first pair of images ( 202 , 206 ), wherein the processing step comprises: transforming ( 906 ) at least one of a first and a second image of the first pair through a projective map ( 402 , 404 ) on a plane, the map depending on one or more parameter values ( 406 ), so as to align an epipolar line ( 304 ) in the first image with a corresponding epipolar line ( 306 ) in the second image of the first pair, resulting in a second pair of images; estimating ( 908 ) respective values for a disparity, which values associate respective first pixels along a first epipolar line in a first image of the second pair with respective second pixels along a corresponding second epipolar line in a second image of the second pair; displacing ( 910 ) respective pixels of the first epipolar line in the first image of the second image pair in accordance with a respective value of the disparity for the respective pixels; determining ( 912 ) a measure of error ( 412 ) between the first and the second image of the second image pair, dependent on the one or more parameters; determining ( 914 ) an update for the one or more parameter values for reducing a value of the measure of error; and updating ( 916 ) the one or more parameter values, using the update.