Heterogeneous Camera Depth Estimation With Epipolar Pixel Mapping
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Solution Overview
Problem
Traditional depth estimation systems using stereoscopic cameras with identical cameras face challenges in flexible camera placement due to strict alignment requirements, particularly in environments with design and space constraints, and heterogeneous camera configurations introduce complexities like non-overlapping imaging geometries and rotational misalignments.
Innovation Solution
A depth estimation system using a pinhole camera and a fisheye camera with a processing circuitry that downscales and rotates images based on orientation deviation and position offset, employing an epipolar constraint to estimate depth information, and utilizes a mapping table for pixel correspondence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If identical cameras with overlapping fields of view are used for depth estimation, then depth estimation accuracy is improved, but camera placement flexibility deteriorates due to strict alignment requirements
Solution Approach 1:
The patent changes the parameters of the camera system by using heterogeneous cameras (pinhole and fisheye) with different fields of view and optical characteristics instead of identical cameras. It compensates for the differences through image processing parameters (downscaling, rotation) and establishes new correspondence relationships based on epipolar geometry adapted to heterogeneous cameras, thereby achieving depth estimation with flexible camera placement.
2Adaptability or versatility
If heterogeneous camera configurations are used to improve camera placement flexibility, then camera placement adaptability is improved, but system complexity increases due to non-overlapping imaging geometries and rotational misalignments
Solution Approach 1:
The patent introduces an intermediary processing step that establishes epipolar correspondence relationships between heterogeneous cameras. By defining epipolar constraints and using a mapping table to associate pixels from the pinhole camera with corresponding pixels in the fisheye camera, it mediates the complex geometric relationships between different camera types, simplifying the depth estimation process despite heterogeneous configurations.
3Adaptability or versatility
If pinhole camera and fisheye camera are used for distinct functions, then functional versatility is improved, but depth estimation capability deteriorates due to non-overlapping fields of view
Solution Approach 1:
The patent makes the heterogeneous camera system universal by enabling it to perform multiple functions: the pinhole camera provides high-resolution depth estimation for specific regions while the fisheye camera provides wide-area coverage. Through epipolar correspondence and pixel mapping, the system integrates these different functional capabilities into a unified depth estimation framework that leverages the strengths of both camera types.
Data Source
AI summary
A depth estimation system is provided. The depth estimation system includes a pinhole camera, a fisheye camera, and a processing circuitry. The pinhole camera is configured to capture a narrow-view image of an entity. The fisheye camera is configured to capture a wide-view image of the entity. An orientation deviation and a position offset are present between the pinhole camera and the fisheye camera. The processing circuitry is configured to downscale the narrow-view image to generate a resized image, rotate the wide-view image using a rotation compensation parameter that is determined based on the orientation deviation to generate a rotated image, determine pixel mapping information between the rotated image and the resized image based on an epipolar constraint, and estimate depth information of the entity relative to the pinhole camera based on the pixel mapping information and the position offset.