Single-Camera Object Dimension Estimation Using Inverse Depth
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Solution Overview
Problem
Existing wireless communication systems, particularly 5G NR, face inefficiencies in transmitting image data from moving vehicles, which can be addressed by describing objects using inverse depth to improve the calculation of dimensions from a single captured image, reducing the need for multiple image comparisons and avoiding negative depth values.
Innovation Solution
A wireless device calculates dimensions of captured objects from a two-dimensional projection and estimates inverse depth, allowing efficient transmission of object attributes like size, position, and orientation using a non-linear least-squares solver initialized with calculated and estimated inverse depth.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If image data is transmitted from moving vehicles using existing wireless communication systems, then communication services can be provided, but resource consumption and transmission delays increase
Solution Approach 1:
The patent extracts only the essential object attributes (dimensions, inverse depth, position, orientation) from complete image data for transmission. Instead of transmitting full images, the system identifies and transmits only the critical dimensional parameters that describe captured objects, significantly reducing the data volume while maintaining the necessary information for applications like autonomous driving and advanced driver assistance systems.
Solution Approach 2:
The patent transforms the representation of object depth from standard depth values to inverse depth parameters. This parameter transformation enables more efficient calculation and transmission of spatial information. By using inverse depth (1/z) instead of direct depth (z), the system achieves better numerical stability and reduces the computational complexity of dimension estimation from single images.
2Measurement precision
If multiple image comparisons are used to calculate object dimensions, then accuracy can be improved, but transmission delays and resource consumption increase
Solution Approach 1:
The patent performs preliminary calculation of object dimensions directly from a single captured image using inverse depth initialization and non-linear least-squares optimization. By pre-computing the dimensional parameters (length, width, height, position, orientation) before transmission, the system eliminates the need for receiving端 to perform multiple image comparisons, thereby reducing transmission delays while maintaining calculation accuracy.
Solution Approach 2:
The patent introduces inverse depth as an intermediary parameter that facilitates accurate dimension calculation from single images. This intermediate representation serves as a bridge between the captured image and the final object dimensions, enabling the non-linear least-squares solver to converge more reliably and accurately without requiring multiple image inputs or complex temporal comparisons.
3Ease of operation
If standard depth values are used, then intuitive representation is achieved, but negative depth values cause calculation errors
Solution Approach 1:
The patent changes the depth parameter representation from standard depth (z) to inverse depth (1/z). This transformation ensures that depth values are always positive (avoiding negative depth issues) while maintaining a monotonic relationship with actual distance. The inverse depth parameter provides numerical stability during optimization calculations and naturally handles the geometric constraints of camera imaging, eliminating calculation errors associated with negative depth values.
Data Source
AI summary
A wireless device may obtain, from a camera, an image with at least one captured object, which may include a plurality of dimensions. The image may include a 2D projection of the at least one captured object. The wireless device may calculate at least one dimension of the plurality of dimensions of the at least one captured object based on the 2D projection of the at least one captured object. The wireless device may estimate an inverse depth of the plurality of dimensions of the at least one captured object based on information associated with one or more properties of the camera or of at least one reference object associated with the at least one captured object. The wireless device may transmit an indication of the plurality of dimensions of the at least one captured object including the calculated at least one dimension and the estimated inverse depth.