Patent Document ID: 9965870
Application ID: 15467872
Patent Status: 1

Claim One:
1. A method for intrinsic calibration of a camera using a calibration target, the camera having a field of view covering a scene, the method comprising the steps of: providing a plurality of target images acquired with the camera, each target image representing a view of the calibration target in a respective one of a plurality of target poses, each target pose corresponding to a certain location and orientation of the calibration target relative to the camera; the providing step comprising acquiring, with the camera, the plurality of target images of the calibration target in the respective plurality of target poses; and displacing the calibration target between acquiring successive ones of the plurality of target images; measuring, during the providing step, at least one of location information and orientation information about the calibration target with at least one sensor mounted on the calibration target; partitioning a volume of interest of the scene into a set of volume bins; defining a set of angle bins, each angle bin encompassing a respective range of possible orientation values for the calibration target; identifying, among the plurality of target images, reference images of the calibration target; assigning each reference image to either or both of one of the volume bins and one of the angle bins based on the respective target pose corresponding to the reference image; the assigning step comprising determining at least one of the location and the orientation of the calibration target corresponding to each reference image based on the at least one of the location information and orientation information measured by the at least one sensor; and obtaining intrinsic camera parameters based on the reference images.