Multi-Camera Calibration for Vehicle Posture Compensation
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Solution Overview
Problem
Autonomous vehicles with multiple cameras face errors in distance measurement due to changes in vehicle posture and external forces, which are compounded by the computational demands of visual odometry and vehicle dynamic compensation.
Innovation Solution
The vehicle is equipped with multiple cameras and an inertial measurement unit, using vehicle dynamic compensation (VDC) and automated online calibration (AOC) to correct these errors, with region-based logic to minimize computational load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual odometry is used to perform automated online calibration and vehicle dynamic compensation, then measurement precision is improved, but device complexity increases due to computational demands
Solution Approach 1:
The patent segments the calibration and compensation process into two distinct modules: automated online calibration (AOC) for camera parameter calibration and vehicle dynamic compensation (VDC) for posture correction. This segmentation allows each module to be optimized independently, reducing overall computational complexity while maintaining measurement precision through specialized processing for each function.
Solution Approach 2:
The patent performs preliminary offline calibration to obtain initial camera parameters before online operation. This preliminary action reduces the computational burden during real-time operation, as the online system only needs to perform incremental adjustments rather than full calibration computations, thereby balancing precision with reduced computational complexity.
2Measurement precision
If multiple cameras are used to compensate for posture changes and external forces, then measurement precision is improved, but device complexity increases due to multi-camera coordination
Solution Approach 1:
The patent merges the functions of multiple cameras into a unified multi-camera calibration and compensation system. By integrating calibration parameters and coordinate transformations across all cameras, the system achieves consistent measurement precision while managing complexity through centralized control rather than independent processing for each camera.
Solution Approach 2:
The patent creates a universal calibration and compensation framework that works across all cameras regardless of their specific positions or functions. This multi-functional approach allows the same mathematical models and processing algorithms to be applied to front cameras, rear cameras, and lateral cameras, reducing system complexity through standardization while maintaining precision through comprehensive coverage.
Data Source
AI summary
A vehicle includes a controller and a first camera, a second camera, and a third camera. The first camera is installed in the vehicle to have a first field of view and is configured to obtain first image data for the first field of view. The second camera is installed in the vehicle to have a second field of view and is configured to obtain second image data for the second field of view. The third camera is installed in the vehicle to have a third field of view and is configured to obtain third image data for the third field of view. The controller is configured to perform vehicle dynamic compensation (VDC) based on a result of processing any one of the first image data, the second image data, and the third image data and to perform automated online calibration (AOC) based on a result of the VDC to determine abnormality of the cameras.