Camera-IMU Distance Estimation for Vehicle Position Changes
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Solution Overview
Problem
Autonomous vehicles face inaccuracies in distance estimation due to changes in vehicle position, particularly when driving over bumps or obstacles, leading to camera shake and incorrect distance calculations.
Innovation Solution
A vehicle system incorporating a camera and an inertial measurement unit (IMU) with a processor that estimates vehicle position by removing image noise, tracking feature points, and using geometric relationships to correct for position changes, ensuring accurate distance estimation through the combination of camera and IMU data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If distance estimation is performed using only camera images, then the system is simple, but distance accuracy deteriorates when vehicle position changes due to bumps or obstacles
Solution Approach 1:
The patent combines camera-based distance estimation with IMU-based vehicle position measurement to correct distance errors. The processor integrates data from both the camera (for object detection) and the IMU (for vehicle position and orientation changes) to compensate for camera shake and position variations, thereby maintaining accurate distance measurement despite vehicle movement over bumps or obstacles.
2Device complexity
If camera-based distance estimation is used, then the system is simple, but reliability deteriorates when vehicle position suddenly changes
Solution Approach 1:
The system uses IMU measurements of vehicle position and orientation as feedback to correct camera-based distance estimation errors. The processor continuously monitors vehicle position changes via the IMU and applies compensation transformations to the camera-derived distance measurements, creating a closed-loop correction mechanism that maintains reliability during dynamic vehicle operation.
3Device complexity
If vehicle position is estimated using only camera images, then processing is simple, but position accuracy deteriorates due to image noise and feature point mismatch
Solution Approach 1:
The IMU serves as an intermediary device that provides direct vehicle position and orientation measurements independent of image processing. Instead of relying solely on complex image feature tracking and matching, the system uses the IMU as a mediator to obtain accurate vehicle position data, which then corrects the camera-based estimates and compensates for errors in image-based position estimation.
Data Source
AI summary
A vehicle and a method of estimating a distance according to a change in vehicle position are provided. The vehicle may include: a camera mounted on the vehicle to obtain an image outside the vehicle; an inertial measurement unit (IMU) device; and a processor configured to estimate a vehicle position of the vehicle based on the image obtained from the camera, and adjust the estimated vehicle position based on a measurement of the IMU device.