Bundle Adjustment Using Camera Pose Correlation

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Solution Overview

Problem

Conventional bundle adjustment techniques struggle to accurately determine camera parameters and 3D point positions in geographic areas with a lack of detectable features, such as feature-poor areas like bodies of water, where insufficient features hinder the relationship between cameras.

Innovation Solution

The method involves correlating the poses of cameras based on their relative positions and time intervals between image captures, generating constraints that enhance the bundle adjustment process, especially in feature-poor areas, to improve the accuracy of camera parameter and 3D location determination.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If conventional bundle adjustment techniques are used, then the process can be performed with standard image data, but the accuracy of camera parameters and 3D point positions deteriorates in feature-poor areas

Engineering Contradiction:

Improveaccuracy of camera parameters and 3D point positionsVSAvoidability to handle feature-poor areas

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent introduces temporal dimension by utilizing time intervals between image captures from multiple cameras. Instead of relying solely on spatial features in the images, the system uses the temporal relationship and synchronization information between cameras to create constraints that improve bundle adjustment accuracy in feature-poor areas.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The patent introduces camera correlation constraints as an intermediary element that connects cameras in the bundle adjustment process. These constraints act as a mediator that provides additional information about camera relationships, enabling accurate parameter determination even when traditional image features are insufficient.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If camera correlations based on time intervals are incorporated, then the accuracy of bundle adjustment improves in feature-poor areas, but the complexity of the bundle adjustment process increases

Engineering Contradiction:

Improveaccuracy of camera parameters and 3D point positionsVSAvoidcomplexity of bundle adjustment process

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent modifies the bundle adjustment parameters by incorporating time interval information and camera correlation constraints. Instead of using only traditional image-based constraints, the system adds temporal parameters and correlation-based constraints that leverage the synchronized capture times of multiple cameras to improve accuracy without requiring complex additional hardware.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS9466107B2Bundle adjustment based on image capture intervals

Publication Date: 2016.10.11 GOOGLE LLC

AI summary

Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, determining a correlation between a pose of a first camera and a pose of a second camera, generating one or more constraints incorporating the correlation, and determining at least one of camera parameters and three dimensional locations of features using a plurality of constraints including the generated one or more constraints. The first camera and the second camera have substantially rigid positions and poses relative to each other. A strength of the correlation is based at least upon a time interval between respective image captures by the first camera and the second camera.