Alternating Direction Scanning for Vehicle Disparity Image Accuracy
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Solution Overview
Problem
Existing dense disparity image generation techniques, such as the SGM method, require significant computational resources and processing costs due to the need for two-directional raster scanning, which complicates implementation in in-vehicle systems and can lead to reduced accuracy when switching to one-directional scanning.
Innovation Solution
A disparity image generating device and method that alternates scanning directions between frames, using one-directional raster scanning for each frame to optimize disparity values based on different pixel routes, and associates pixel positions across frames to compare and adjust disparity values, thereby reducing processing costs while maintaining accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two-directional raster scanning is used to optimize disparity values, then measurement precision is improved, but computing cost increases
Solution Approach 1:
The patent segments the two-directional scanning process into two separate one-directional scanning passes performed on different frames. The first frame is scanned in a first direction (e.g., left-to-right) and the second frame is scanned in an opposite direction (e.g., right-to-left). This segmentation reduces the computational burden on a single frame while maintaining the benefits of multi-directional optimization through temporal separation.
Solution Approach 2:
The patent implements periodic action by alternating the scanning direction between consecutive frames. Odd-numbered frames are processed in one direction while even-numbered frames are processed in the opposite direction. This periodic alternation allows the system to accumulate multi-directional optimization information over time without requiring simultaneous two-directional processing, thereby reducing instantaneous computing cost while maintaining measurement precision.
2Manufacturing precision
If two-directional raster scanning is performed, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The complex two-directional scanning operation is segmented into simpler one-directional scanning tasks that are executed sequentially on alternating frames. This segmentation transforms a single complex operation into multiple simpler operations, reducing the immediate processing complexity while achieving the same precision through cumulative refinement across frames.
Solution Approach 2:
The patent introduces dynamic direction switching between frames, where the scanning direction alternates based on the frame number. This dynamic approach allows the system to adapt the processing direction over time, simplifying the instantaneous processing requirements while maintaining overall precision through the temporal sequence of alternating directions.
3Power
If one-directional raster scanning is used, then computing cost is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent employs periodic action by alternating the scanning direction between consecutive frames. This periodic alternation ensures that over time, both left-to-right and right-to-left scanning perspectives are applied, recovering the measurement precision benefits of two-directional scanning while maintaining the lower computing cost of one-directional processing at any given moment.
Solution Approach 2:
The patent maintains continuity of useful action by processing every frame in sequence with alternating directions. This continuous processing ensures that no frames are skipped and that the precision-improving multi-directional information is accumulated continuously over time, preventing the precision deterioration that would result from simple one-directional scanning.
4Device complexity
If one-directional raster scanning is applied, then device complexity is reduced, but reliability decreases
Solution Approach 1:
The patent uses periodic alternation of scanning directions between frames to enhance reliability. By systematically switching directions in a periodic manner, the system gathers more comprehensive disparity information from multiple perspectives over time, which increases the reliability of the final disparity image while keeping each individual scanning operation simple.
Solution Approach 2:
The reliability enhancement is achieved by segmenting the disparity optimization into multiple sequential one-directional passes on alternating frames. This segmentation allows each pass to be simple and low-complexity, while the cumulative effect of multiple passes from different directions improves the overall reliability of the disparity measurements.
Data Source
AI summary
A disparity image generating device includes: a disparity image acquiring unit configured to acquire chronologically consecutive first and second disparity images based on an imaging result of an environment around a vehicle; a first correcting unit configured to optimize a disparity value of a first target pixel from among pixels configuring the first disparity image; a second correcting unit configured to optimize a disparity value of a second target pixel from among pixels configuring the second disparity image; and a disparity image generating unit configured to calculate a desired disparity image, based on a comparison between the first disparity image optimized by the first correcting unit and the second disparity image optimized by the second correcting unit.