US Patent 11043006 Use of machine-trained network for misalignment identification

Some embodiments of the invention provide a novel multi-layer node network to determine a set of misalignment values for a set of cameras that may be arranged with deviations from an ideal alignment or placement based on images captured by the set of cameras. A set of misalignment values for a set of cameras, in some embodiments, takes the form of translation vectors indicating the offsets between the centers of projection of the cameras relative to some useful coordinate system, and quaternions indicating the orientations of the cameras' optical axes and reference vectors associated with the cameras. Some embodiments train the multi-layer network using a set of inputs generated with random misalignments incorporated into the training set.