Vehicle Camera Height Detection for Curbs and Raised Objects
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Solution Overview
Problem
Existing methods for motor vehicles to detect the height of raised objects, such as curbs and speed bumps, are complex and inefficient, particularly when using 3D point clouds, which complicates accurate classification for safe driving in autonomous or assisted driving scenarios.
Innovation Solution
A method utilizing multiple camera positions to project object edge portions onto a calibrated base, determining the intersection of lines of sight to calculate the height of raised objects, and compensating for optical distortion, simplifying the process by reducing it to 2D problems and improving accuracy through clustering and error filtering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If 3D point cloud methods are used to detect object height, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent transitions from complex 3D point cloud processing to a simplified 2D image processing approach. By using multiple 2D camera images taken at different lateral positions and projecting object edge portions onto a calibrated base, the system determines height through 2D geometric relationships rather than full 3D reconstruction, thereby reducing computational complexity while maintaining measurement capability
Solution Approach 2:
The patent creates a calibrated 2D base representation that copies the essential geometric information needed for height measurement. Instead of processing full 3D point clouds, the system uses 2D image projections and calibrated base mappings to replicate the necessary spatial relationships for accurate height detection with reduced complexity
2Measurement precision
If multiple camera positions are used to improve height detection accuracy, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent performs preliminary calibration to establish the relationship between camera positions, image coordinates, and real-world dimensions before actual height measurement. The calibrated base and projection relationships are pre-computed, allowing rapid height determination from multiple camera images without performing complex 3D reconstruction in real-time, thus reducing detection time while maintaining accuracy
Data Source
AI summary
A method for motor vehicles for detecting the height of raised objects using a camera. The method includes: ascertaining object edge portions of the objects in the at least two items of image information; projecting the object edge portions of the objects from the camera onto a base which is calibrated for the camera; assigning the object edge portions to different objects and ascertaining a common object edge line; ascertaining lines of sight between the camera and the object edge line projected onto the base in at least two positions; ascertaining a point of intersection of the at least two lines of sight of the same objects in the same plane; and determining a height of the point of intersection above the calibrated base of the respective object.