Vehicle Camera Alignment Using Multi-Region Matching and Bundle Adjustment
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Solution Overview
Problem
Existing vehicle cameras with different coordinate systems provide conflicting or confusing data due to optical aberrations, especially in fish-eye cameras, making it difficult to coordinate their images effectively.
Innovation Solution
A method and system for aligning cameras using feature pairs and regions of interest, involving feature detection, region definition, and transformation matrix calculation to synchronize camera coordinate systems, even with optical aberrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feature matching is performed using entire image regions, then the alignment accuracy is improved, but the computational complexity and processing time increase significantly
Solution Approach 1:
The patent divides the image into multiple regions of interest (ROIs) and further segments each ROI into multiple sub-regions. Feature matching is performed on these segmented sub-regions rather than the entire image, reducing computational complexity while maintaining alignment accuracy through multiple localized matching operations.
Solution Approach 2:
The patent applies different processing strategies to different regions of the image. Each region of interest is segmented into sub-regions with potentially different characteristics, allowing tailored feature extraction and matching approaches for each local area, optimizing both accuracy and computational efficiency.
2Measurement precision
If multiple regions of interest are segmented and processed, then the feature matching accuracy is improved, but the processing time increases
Solution Approach 1:
The image is segmented into regions of interest, which are further divided into sub-regions. This segmentation allows parallel processing of multiple regions simultaneously, reducing total processing time while maintaining high matching accuracy through comprehensive local analysis.
Solution Approach 2:
The patent processes only the necessary sub-regions containing relevant features rather than the entire image. By identifying and processing only the partial regions where features of interest exist, the system achieves high accuracy without the full computational burden of processing every pixel and region.
3Area of stationary object
If fish-eye camera images are used to provide wide field of view, then the coverage area is improved, but the optical aberrations make coordinate system alignment difficult
Solution Approach 1:
The patent segments the fish-eye camera images into multiple regions of interest, each containing specific features. By processing these segmented regions independently and then integrating the results, the system can handle the optical aberrations locally while maintaining overall alignment accuracy across the wide field of view.
Solution Approach 2:
The patent introduces an intermediary transformation process that maps features from the distorted fish-eye image coordinates to a standardized coordinate system. This intermediary transformation, performed through feature matching and bundle adjustment on segmented regions, mediates between the distorted fish-eye coordinates and the required aligned coordinate system.
Data Source
AI summary
A vehicle, system and method of aligning a first camera of the vehicle with a second camera of the vehicle. The system includes a processor configured to detect a first set of features in a first image obtained from the first camera, detect a second set of features in a second image obtained from the second camera, determine a first region of interest in the first image, determine a second region of interest in the second image, generate a feature pair by matching the first set of features to the second set of features using the first region of interest and the second region of interest, align the first camera with the second camera using the feature pair, and control an operation at the vehicle based on the alignment between the first camera and the second camera.