Vehicle Absolute Orientation Estimation Using Camera and GPS
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Solution Overview
Problem
Existing methods for estimating the absolute orientation of a vehicle are often complex and require multiple components, making them costly and inefficient, particularly in applications like UAV mapping and navigation where simplicity and accuracy are crucial.
Innovation Solution
A method utilizing a camera and GPS to estimate absolute orientation by selecting three concurrent images taken above horizontal ground, identifying key points, projecting them onto a horizontal plane, calculating the geometric center, and minimizing distances to determine rotation and height, thereby reducing component requirements and increasing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex navigation methods using camera, GPS and IMU are used, then measurement precision of absolute orientation is improved, but device complexity increases
Solution Approach 1:
The patent extracts and eliminates the IMU component from the navigation system, achieving absolute orientation estimation using only camera and GPS. By removing the inertial measurement unit while maintaining measurement precision through alternative methods (key point matching and geometric constraints), the system reduces device complexity while preserving accuracy.
Solution Approach 2:
The patent makes the camera and GPS system perform multiple functions: GPS provides both position and orientation constraints, while the camera serves both for key point extraction and for establishing geometric relationships with the ground plane. This multi-functionality eliminates the need for separate IMU components.
2Measurement precision
If multiple components (camera, GPS, IMU) are combined, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent removes the IMU component and its associated data processing requirements, simplifying the operational workflow. The system now only needs to process camera images and GPS positions, reducing the complexity of information treatment while maintaining estimation accuracy through geometric constraints and key point matching.
Solution Approach 2:
The system uses the horizontal ground assumption to automatically constrain the camera orientation, allowing the system to self-correct without requiring complex fusion algorithms. The geometric relationship between camera images and ground plane provides inherent constraints that simplify processing.
3Measurement precision
If three concurrent images are used, then measurement precision of absolute orientation is improved, but loss of time increases
Solution Approach 1:
The patent pre-identifies and extracts key points from images before the full orientation calculation is needed. By preparing key point data and establishing geometric constraints in advance, the system can perform orientation estimation more efficiently, reducing the time delay while maintaining the accuracy provided by three concurrent images.
Data Source
AI summary
A method of estimating absolute orientation of a vehicle utilizing a camera and GPS. At least three images are selected from concurrent images taken above an essentially horizontal ground at a distance from each other. Key points are identified in each selected image. Absolute positions of the images are obtained from the GPS defining the image positions when a respective image was taken. Key points between selected images are matched to obtain an estimate of the absolute orientation.