Patent Document ID: 9338439
Application ID: 13995861
Patent Status: 1

Claim One:
1. A system for image processing, comprising: an image processing pipeline that comprises two or more input imaging units rigidly positioned with respect to each other, each with a lens and an imager, wherein for each imaging unit the lens and imager are rigidly positioned with respect to each other and the lens has a focal length that is fixed; a warping module connected to each input imaging unit and configured to receive raw images from the connected input imaging units and to apply warping parameters to output a rectified image; and a diagnostic module configured to: determine a number of pixels in a first rectified image associated with a first of the input imaging units and identified by a dense stereo correspondence algorithm as matching pixels in a second rectified image associated with a second of the input imaging units; compare the number of pixels identified as matching with a predetermined threshold number of pixels for which correspondence is estimated to be found in response to the warping parameters being correct; and detect epipolar misalignment in response to the number of pixels identified as matching failing to satisfy the predetermined threshold; and an adjustment module configured to adjust the warping parameters in response to detection of the epipolar misalignment.