Radial Camera Arrays with Integrated Trackers for Scene Reconstruction
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Solution Overview
Problem
Existing mediated reality systems face challenges in precisely tracking objects within a scene while maintaining low system latency, particularly due to misalignments and distortions caused by relative movements between multiple cameras.
Innovation Solution
A camera array system integrating high-resolution RGB cameras and infrared trackers mounted on a common frame, combined with a depth sensor, processes image and positional data to synthesize a virtual perspective and track objects with high precision and low latency by triangulating tool tip positions using both camera and tracker data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple camera angles are used to reconstruct an image of the environment, then the virtual perspective quality is improved, but small relative movements and misalignments between cameras cause unwanted distortions in the reconstructed image
Solution Approach 1:
The patent combines multiple camera systems and tracker systems into an integrated mediated reality system that processes data from all sensors simultaneously. By merging the data streams and processing them through a unified computational pipeline, the system reconciles slight misalignments between cameras and uses tracker data to compensate for relative movements, thereby maintaining image quality while eliminating distortions.
Solution Approach 2:
The system continuously monitors the positions and orientations of multiple cameras and trackers, and uses this feedback information to dynamically adjust the image reconstruction process. By detecting relative movements in real-time and applying corrective transformations, the system compensates for misalignments and prevents distortion in the final virtual perspective.
2Measurement precision
If object tracking is performed with high precision, then tracking accuracy is improved, but system latency increases
Solution Approach 1:
The patent divides the tracking task into separate processing streams for different object types and priority levels. Critical tracking data (such as tool tip positions) is processed with highest priority and simplified algorithms to minimize latency, while less critical tracking information undergoes more comprehensive processing. This segmentation allows the system to maintain high accuracy for essential elements while reducing overall system latency.
Solution Approach 2:
The system applies different levels of processing intensity to different tracking targets based on their importance. For critical surgical tools, the system performs exhaustive tracking analysis to ensure maximum accuracy, while for less critical objects, it uses simplified tracking methods. This partial application of full processing power maintains accuracy where needed while reducing computational load and latency overall.
Data Source
AI summary
Camera arrays for mediated-reality systems and associated methods and systems are disclosed herein. In some embodiments, a camera array includes a support structure having a center, and a depth sensor mounted to the support structure proximate to the center. The camera array can further include a plurality of cameras mounted to the support structure radially outward from the depth sensor, and a plurality of trackers mounted to the support structure radially outward from the cameras. The cameras are configured to capture image data of a scene, and the trackers are configured to capture positional data of a tool within the scene. The image data and the positional data can be processed to generate a virtual perspective of the scene including a graphical representation of the tool at the determined position.