Mono Camera Distance Determination via Vehicle Pitching
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Solution Overview
Problem
Existing camera-based methods for determining distance in vehicle environments when the vehicle is stationary are complex and require multiple cameras or a stereo camera, or involve error-prone mechanical installations.
Innovation Solution
A camera-based method that detects a predefined event associated with a pitching movement of the vehicle, activates a mono camera to record two images with a time reference to the pitching movement, and processes these images to determine distance based on object displacement, using existing sensors like door and wheel suspension sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple cameras or a stereo camera are used for camera-based distance determination in a stationary vehicle, then distance measurement is possible, but device complexity increases
Solution Approach 1:
The patent utilizes the dynamic pitching movement of the vehicle (caused by door opening/closing or suspension movement) to create relative motion between the camera and the environment. This dynamic approach allows a single stationary camera to capture multiple perspectives over time, replacing the need for multiple simultaneous cameras while maintaining distance measurement capability.
Solution Approach 2:
The patent transitions from spatial dimension (multiple cameras positioned at different locations) to temporal dimension (single camera capturing images at different times during pitching movement). By exploiting the time dimension and the vehicle's natural pitching motion, the system achieves stereo-like depth perception with a single camera.
2Measurement precision
If a camera is mounted on a rail system to enable movement relative to the vehicle, then distance determination is possible for stationary vehicles, but device complexity and error-proneness increase
Solution Approach 1:
The patent leverages the vehicle's own pitching movement (caused by normal operations like door opening or suspension dynamics) as the source of relative motion. Instead of requiring an external mechanical system to move the camera, the system uses the vehicle's natural movements, eliminating the need for complex rail systems and additional actuators.
Solution Approach 2:
The patent replaces the mechanical rail system with a software-based solution that processes images captured during natural vehicle pitching. The relative motion is achieved through the vehicle's own dynamics rather than a dedicated mechanical camera positioning system, reducing hardware complexity and potential failure points.
3Device complexity
If a monocular camera is used for distance determination, then device complexity is reduced, but additional movement or multiple cameras are required
Solution Approach 1:
The patent enables the stationary vehicle to exploit its dynamic pitching movement to provide the necessary relative motion for monocular depth estimation. The camera remains physically stationary on the vehicle, but the vehicle's pitching creates temporal changes in the image sequence that encode distance information.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables simple, cost-effective, and accurate distance determination using a permanently attached mono camera without additional hardware, leveraging pitching movement-induced optical flow for quasi-stereo imaging, thus eliminating the need for complex mechanical systems.
Implementation Method 1
a sequence of images captured by the camera is analyzed for the presence of an 'optical flow' (OFL) around an object, such as that resulting from an approach to the object within the camera's field of view
Data Source
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AI summary
The invention relates to methods for distance determination, as are used for example in parking assist systems. A method according to the invention in a stationary vehicle (100) comprises the following steps: detecting a first predefined event which is related to a pitch movement of the vehicle (100); based on the detection of the first event, activating the camera (110) in order to record, with temporal reference to the pitch movement, a first and a second image of the vehicle environment (122); and processing the first and the second image in order to determine from a displacement of the object (102) due to the pitch movement between the recording times of the first and of the second image in the viewing field of the camera (110) a distance (120) from the object (102).