Camera Image Distance Calculation Using Projection Region Overlap
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Solution Overview
Problem
Existing SLAM techniques face challenges in calculating the distance between images taken from different camera stations in a three-dimensional space, as they often rely on Euclidean distance and assume a common subject, which is not always feasible due to varying viewing angles.
Innovation Solution
An information processing apparatus that sets a target region in a projection plane for each camera station, calculating the distance as a proportion of overlap between these regions, allowing for accurate distance calculation regardless of the subject included in the images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If Euclidean distance between camera stations is used to calculate distance between images, then the calculation is simple, but the distance does not accurately reflect the suitability for image comparison due to ignoring viewing angle differences
Solution Approach 1:
The patent extends the distance calculation from three-dimensional Euclidean space to four-dimensional space by incorporating viewing angle information. The distance metric is reformulated to include angular differences between camera stations, transforming the problem from simple spatial distance to a combined spatio-angular distance that better reflects image comparability
Solution Approach 2:
The patent changes the parameters used for distance calculation by introducing viewing angle as an additional parameter alongside camera station position. This transforms the distance metric from a single positional parameter to a composite parameter that includes both spatial coordinates and angular orientation, enabling more accurate assessment of image similarity
2Productivity
If key frame selection is based on close camera stations, then processing efficiency is improved, but image comparability deteriorates when viewing angles differ significantly
Solution Approach 1:
The patent modifies the key frame selection criterion by changing the distance parameter to include viewing angle information. Instead of selecting key frames based solely on spatial proximity, the system selects based on a composite distance metric that penalizes large angular differences, thereby improving the reliability of image comparison while maintaining processing efficiency
Solution Approach 2:
The patent replaces the mechanical/spatial-based key frame selection mechanism with an information-based selection mechanism that incorporates angular relationships. This substitution allows the system to account for viewing geometry without increasing computational complexity, maintaining productivity while improving reliability
Data Source
AI summary
Disclosed is an information processing apparatus that calculates a distance between images taken by a camera at multiple camera stations in a three-dimensional space. The information processing apparatus includes region setting means for setting, as a target region for each camera station, a range of a predetermined shape in a projection plane at a distance determined by a predetermined method relative to the camera within a frustum of the camera at each camera station, on the basis of information regarding a posture of the camera at each camera station, and calculation means for calculating, as a distance value, a proportion in which, given a pair of the images targeted for the distance calculation, the target region for the camera station from which one of the images is taken is included in the target region for the camera station from which the other image is taken.