Patent Document ID: 9858639
Application ID: 14944409
Patent Status: 1

Claim One:
1. A method of displaying a captured image on a display device comprising the steps of: capturing a real image by an image capture device, the image capture device using a field-of-view lens that distorts the real image; applying a camera model to the captured real image, the camera model mapping objects in the captured real image to an image sensor plane of the image capture device to generate a virtual image, the image sensor plane reconfigured to virtually alter a shape of the image sensor plane to a non-planar surface; and projecting the virtual image formed on the non-planar image surface of the image sensor to the display device; wherein generating the virtual image comprises the steps of: providing a pre-calibrated real camera model by the processor, the real camera model representative of the vision-based imaging device capturing the scene; determining real incident ray angles of each pixel in the captured image based on the pre-calibrated real camera model; identifying an arbitrary shape of the non-planar imaging surface identifying a pose of the virtual camera model; determining virtual incident ray angles of each pixel in the virtual image based on the virtual image model and the non-planar imaging surface; mapping a virtual incident ray to a correlated real incident ray of the real image capture device, wherein rotational compensation is applied to the virtual incident ray angles for correlating the virtual incident ray and the real incident ray if a pose of the virtual camera model is different from a pose of the of the real image capture device; mapping pixels in the virtual image corresponding to coordinates on the non-planar virtual imaging surface to correlated pixels on the real captured image as a function of the correlation mapping between the real incident ray and the virtual incident ray, and wherein a horizontal projection of a virtual incident angle θ virt is represented by the angle α, wherein angle α is represented by the following formula: u virt - u 0 f u = α where u virt is a virtual image point u-axis coordinate, f u is a u axis focal length of the virtual camera, and u 0 is an image center u-axis coordinate.