Calibrating Movable Capture Devices Using Pose-Dependent Interpolation
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Solution Overview
Problem
Existing multi-camera systems in industrial trucks, such as forklifts, face challenges in maintaining accurate extrinsic calibration due to movable camera positions, which are affected by mechanical vibrations and mast tilting, rendering previous calibrations invalid.
Innovation Solution
A method involving an offline phase for calibrating detection devices at various poses and an online phase for determining and applying calibration information, using transformation matrices and interpolation between predefined calibration points to account for camera movement, ensuring accurate and flexible calibration across different orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If cameras are mounted on movable structures (mast) to avoid obstruction, then viewability is improved, but calibration accuracy deteriorates due to position changes
Solution Approach 1:
The system performs preliminary calibration at multiple predefined poses (positions and orientations) of the movable detection device. These pre-calculated calibration parameters are stored and later retrieved based on the current pose, allowing the system to maintain calibration accuracy despite continuous movement.
Solution Approach 2:
The calibration system transitions from static to dynamic by accommodating continuous movement of the detection device. The system determines current pose information and selects appropriate calibration parameters accordingly, enabling accurate calibration throughout the full range of motion rather than requiring fixed positions.
2Measurement precision
If iterative recalibration is performed continuously, then calibration accuracy is maintained, but computational time and complexity increase
Solution Approach 1:
Instead of performing iterative recalibration continuously during operation, the system pre-calibrates at multiple predefined poses in advance. This preliminary action eliminates the need for time-consuming iterative recalibration during actual use, reducing computational time while maintaining accuracy.
Solution Approach 2:
The system creates multiple copies of calibration parameters corresponding to different poses. Rather than performing a single recalibration operation, the system stores multiple pre-computed calibration states and retrieves the appropriate one based on current pose, significantly reducing computational requirements.
3Adaptability or versatility
If calibration is performed at multiple poses, then adaptability to movement is improved, but device complexity increases
Solution Approach 1:
The calibration system is segmented into discrete predefined poses rather than requiring continuous calibration across all possible positions. This segmentation simplifies the system by reducing the calibration parameter space to a manageable set of predetermined states, making the complex task of calibration more tractable.
Solution Approach 2:
The system uses a universal approach where a single calibration framework handles multiple poses and movement scenarios. By establishing calibration at representative poses and using pose-based selection, the system achieves multi-functionality without requiring separate calibration procedures for each position, thereby managing complexity.
Data Source
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AI summary
The invention relates to a method for calibrating a capture system, wherein the capture system comprises at least one movable capture device, comprising the steps of - determining at least two possible different poses of the at least one movable capture device, - pre-calibrating the at least one movable capture device on the basis of each of the at least two possible poses, - providing pre-calibration information for the at least two possible poses, - determining a current pose of the at least one movable capture device, - determining calibration information for the current pose on the basis of the pre-calibration information, and - calibrating the at least one movable capture device in the current pose on the basis of the calibration information provided.