Farming Machine Camera Array Calibration for Swapped Camera Detection

Solution Overview

Problem

Farming machines face challenges in maintaining accurate camera alignment due to collisions and uneven terrain, leading to misalignment of sensors and inability to process captured images effectively.

Innovation Solution

A calibration system on the farming machine identifies calibration errors between camera pairs by determining relative poses using visual information, including features of the machine and surrounding environment, and transmits error notifications with remediation instructions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If cameras are mounted on the farming machine to capture images for processing, then the farming machine can gather data to inform operations, but the cameras may be knocked out of alignment by collisions with objects or due to uneven terrain

Engineering Contradiction:

Improveimage capture capabilityVSAvoidcamera alignment

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system performs preliminary calibration of the camera array before the farming machine begins navigating through the environment. The calibration system determines relative poses between cameras and identifies calibration errors in advance, ensuring cameras are properly aligned before potential collisions or uneven terrain conditions occur

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The calibration system continuously monitors camera alignment by determining relative poses between cameras based on visual information from the environment. When misalignment is detected, the system provides feedback to identify calibration errors and notify operators, enabling corrective action to restore proper camera alignment

Inventive Principle:

Principle #23Feedback

2Productivity

If the farming machine navigates through an environment with objects and uneven terrain, then it can complete farming objectives, but sensors may be knocked out of alignment

Engineering Contradiction:

Improvefarming operation capabilityVSAvoidsensor alignment precision

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The system performs preliminary calibration of the camera array before the farming machine begins navigating through the environment. The calibration system determines relative poses between cameras and identifies calibration errors in advance, ensuring cameras are properly aligned before potential collisions or uneven terrain conditions occur

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The calibration system continuously monitors camera alignment by determining relative poses between cameras based on visual information from the environment. When misalignment is detected, the system provides feedback to identify calibration errors and notify operators, enabling corrective action to restore proper camera alignment

Inventive Principle:

Principle #23Feedback

3Measurement precision

If real-time calibration monitoring is implemented to detect misalignments, then camera alignment accuracy is maintained, but system complexity increases

Engineering Contradiction:

Improvecamera alignment accuracyVSAvoidcalibration system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The calibration system utilizes visual information from the environment that the cameras are already capturing during normal farming operations. By processing this existing visual data to determine relative poses and detect misalignments, the system performs self-calibration without requiring additional specialized sensors or complex external calibration equipment

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS20250342610A1Camera Array Calibration in a Farming Machine

Publication Date: 2025.11.06 DEERE & CO

AI summary

The calibration system of the farming machine receives images from the camera array. The images comprise visual information representing a view of a portion of an area surrounding the farming machine. To calibrate the camera array, the system determines a relative pose between pairs of cameras by extracting relative position and orientation characteristics from visual information in images captured by the camera pairs. The calibration system can determine that a pair of cameras is in a swapped state by comparing the relative pose of the pair of cameras to an expected pose of the pair of cameras. The calibration system adjusts the pair to remedy the swapped state.