AVPS Marker Calibration for Camera Shift Localization Errors
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Solution Overview
Problem
Existing AVPS systems face challenges in maintaining accurate localization due to changes in camera mounting angles or positions, leading to decreased localization accuracy.
Innovation Solution
A calibration method is introduced that recognizes coded markers in a parking facility, estimates their position and orientation, calculates errors based on predefined thresholds, and performs calibration to correct camera parameters and ensure accurate localization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If camera mounting angle or position changes due to collision or other reasons, then the system continues to operate, but localization accuracy decreases
Solution Approach 1:
The system performs preliminary calibration by capturing images of coded markers at known positions before normal operation. This establishes reference data that is used to correct localization errors caused by camera position deviations, allowing the system to compensate for mounting changes without requiring physical repositioning
Solution Approach 2:
The system continuously captures images of coded markers during operation, compares their detected positions with pre-stored reference positions, and calculates localization errors. This feedback loop enables real-time correction of camera position deviations and maintains localization accuracy despite mounting changes
2Measurement precision
If calibration is performed to correct camera parameters, then localization accuracy improves, but system complexity increases
Solution Approach 1:
The system introduces coded markers as intermediary objects between the camera and the environment. These markers serve as reference points that simplify the calibration process by providing easily detectable, high-contrast features with known geometric properties, reducing the complexity of camera parameter calibration
Solution Approach 2:
The system creates a digital copy of the physical environment by storing reference images of coded markers at known positions. This digital replica is used for comparison with real-time images to detect and correct localization errors, simplifying the calibration process through data-based rather than physically-intensive methods
Data Source
AI summary
An apparatus and a method for improving the localization accuracy of an autonomous vehicle using an AVPS marker. An example method comprises recognizing a first coded marker around an entry space in a parking facility to generate coded marker recognition information, estimating a position and orientation of the recognized coded marker based on the coded marker recognition information and parameters of at least one camera, obtaining information on a second coded marker with the same ID as the recognized coded marker from a marker database containing information on an ID, position, orientation and size of each of a plurality of coded markers installed in the parking facility, calculating an error based on the coded marker recognition information and the information on the second coded marker, and performing calibration based on the error when the error is greater than or equal to a preset threshold.