Camera System Pose Determination Using Fisheye and Ordinary Image Fusion
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Solution Overview
Problem
Existing camera systems face inaccuracies in determining pose information due to the small field of view of ordinary cameras, leading to missing feature points and easy loss of feature points in adjacent frame images.
Innovation Solution
A method that involves obtaining current frame fisheye and ordinary images, tracking feature points to obtain fisheye and ordinary feature points, and determining the pose information of the camera system based on these feature points, thereby compensating for the small field of view and weak texture defects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ordinary cameras are used for visual positioning, then the device complexity is reduced, but the measurement precision of pose information deteriorates due to small field of view and weak texture
Solution Approach 1:
The patent combines fisheye cameras and ordinary cameras into a unified camera system, merging their complementary strengths. The fisheye camera provides wide field of view and strong texture for feature point detection, while ordinary cameras provide precise focusing and measurement. This merging resolves the contradiction by achieving high pose information accuracy without requiring an overly complex single-camera system.
Solution Approach 2:
The patent applies different camera types to different functional requirements: fisheye cameras are used where wide field of view and strong texture are needed (for feature point detection), while ordinary cameras are used where precise measurement is needed. This local quality differentiation allows each camera type to optimize its performance for its specific function, resolving the contradiction between measurement precision and device complexity.
2Reliability
If ordinary cameras with small field of view are used, then the device complexity is reduced, but the reliability of feature point tracking deteriorates due to easy loss of feature points in adjacent frames
Solution Approach 1:
The patent merges fisheye cameras and ordinary cameras to achieve reliable feature point tracking. The fisheye camera's wide field of view ensures feature points remain visible across adjacent frames, preventing tracking loss. This combination improves tracking reliability without requiring a single overly complex camera system.
Solution Approach 2:
The fisheye camera provides a buffer against feature point loss by capturing a wider scene. When the movable platform moves, the fisheye camera ensures feature points remain in view longer, providing a cushion of time and space that prevents tracking failure before it occurs.
3Quantity of substance
If ordinary cameras are used for visual positioning, then the device complexity is reduced, but the quantity of feature points from surrounding environment decreases
Solution Approach 1:
The patent merges fisheye cameras and ordinary cameras to maximize the quantity of feature points. The fisheye camera's wide field of view captures numerous feature points from the surrounding environment that would be invisible to ordinary cameras. This merging achieves high feature point quantity without relying on a single complex camera.
Data Source
AI summary
A method for determining a pose of a camera system may include obtaining a current frame fisheye image captured by a fisheye camera in the camera system and a current frame ordinary image captured by a preset type of camera in the camera system; tracking feature points of the current frame fisheye image to obtain current frame fisheye feature points of the current frame fisheye image, and tracking feature points of the current frame ordinary image to obtain current frame ordinary feature points of the current frame ordinary image; and determining current pose information of the camera system according to the current frame fisheye feature points and the current frame ordinary feature points.