Offset rolling shutter camera model, and applications thereof

摘要

Embodiments efficiently account for variations in camera position across an image, when the image is texture mapped from a single position associated with the image. In an embodiment, each pixel of an image is texture mapped to a three dimensional model. A time offset mask for the image and a value representing a speed of the camera are received. The time offset mask and speed values are used to create an offset mask. The offset mask is applied to the texture mapped model to correct for variations in camera position across an image.

主权项

1. A computer-implemented method for projecting a geocoded image captured with a rolling-shutter camera onto a three-dimensional model, comprising:
(a) receiving, by one or more processors, first and second speed values corresponding to a speed of a camera when respective first and second images were captured, wherein the camera was in motion when the first and second images were captured; (b) receiving, by the one or more processors, a plurality of time offset values, each time offset value:
(i) corresponding to a respective pixel in the first and second images captured by the camera, and(ii) representing a relative time when the camera captured the respective pixel, wherein the camera captures different portions of the first and second images at different times; for each respective pixel of the first and second images: (c) determining, by the one or more processors, a position in three-dimensional space at an intersection between a ray and a three-dimensional model representing content of the first or second image, the ray extended from a geocode of the first or second image based on a location of the pixel and camera parameters representing an orientation and focal length of the camera when it took the first and second image respectively; (d) determining, by the one or more processors, an offset vector for the pixel, the offset vector corresponding to the first and second speed value respectively and the time offset value corresponding to the pixel; and (e) altering, by the one or more processors, the position as specified by the offset vector determined for the pixel of the first and second image to determine a corresponding first and second texture-mapped model respectively, whereby the altering corrects for a variation between the geocode of the first or second image and a position of the camera when the camera captured the pixel; (f) determining, by the one or more processors, first and second rendered images using the respective first and second texture-map models; and (g) blending, by the one or more processors, the first and second rendered images.