Camera Pan Angle Referencing for Crossroad Direction Ambiguity
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Solution Overview
Problem
Existing techniques for determining the direction from which an image is taken by a camera, particularly in environments with four-fold rotational symmetric ambiguity such as crossroads, are inaccurate due to the lack of a defined reference axis in the world coordinate system based on Manhattan World Assumption.
Innovation Solution
A three-dimensional world coordinate system is established based on Manhattan World Assumption, with a first axis defining the ground as a reference axis for the pan angle of the camera, allowing precise determination of the camera's direction by setting forward, rearward, rightward, and leftward directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a three-dimensional world coordinate system is established based on Manhattan World Assumption without defining a reference axis, then the system can be set up quickly and simply, but the specific direction from which an image is taken by a camera cannot be accurately determined
Solution Approach 1:
The patent applies asymmetry by designating a specific first axis (one of the two ground-defining axes) as the reference axis for pan angle measurement. This breaks the four-fold rotational symmetry that causes ambiguity in direction determination. By establishing an asymmetric reference framework where one axis serves as the primary reference and the other as secondary, the system can uniquely determine cardinal directions (forward, rearward, rightward, leftward) without increasing overall system complexity.
2Reliability
If no reference axis is assigned in the world coordinate system, then the coordinate system setup is simpler, but rotational symmetry ambiguity cannot be resolved in environments like crossroads
Solution Approach 1:
The patent implements preliminary action by pre-defining the reference axis relationship between the first and second axes before performing pan angle measurement. This preliminary configuration establishes the asymmetric reference framework in advance, enabling reliable direction determination in symmetric environments like crossroads without requiring complex real-time calculations or additional sensors.
3Measurement precision
If a reference axis for pan angle is defined, then the pan angle can be expressed precisely, but the system requires additional configuration steps
Solution Approach 1:
The patent applies local quality by differentiating the functional roles of the two ground-defining axes. The first axis is assigned the special quality of being the reference axis for pan angle measurement, while the second axis serves as a non-reference axis. This localized differentiation provides precise pan angle measurement capability exactly where needed (along the reference axis) without complicating the overall coordinate system setup.
Data Source
AI summary
An information processing apparatus includes a setting part for setting a first axis being one axis of two axes defining ground as a reference axis for a pan angle of a camera mounted on a mover in a three-dimensional world coordinate system based on Manhattan World Assumption.