US Patent 10269148 Real-time image undistortion for incremental 3D reconstruction

A system provides image undistortion in 3D reconstruction. The system receives an image produced by a sensor, and determines whether correction values are cached for the sensor, where each correction value is configured to place a corresponding pixel into a corrected location. When there are no cached correction values, the system calculates correction values for pixels in the image, generates a correction grid for the image including vertices corresponding to texture coordinates from the image, where each vertex in the correction grid includes a corresponding correction value, partitions the correction grid into partitioned grids, and caches the partitioned grids. The system then renders the image using the partitioned grids.