Camera Sensitivity Pre-calculation for Vehicle Position Estimation
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Solution Overview
Problem
Conventional vehicle control systems in autonomous vehicles face increased computation times due to continuous calculation of distance to objects, which can be inefficient when all landmarks are on the same plane, such as a road.
Innovation Solution
A system that adjusts the sensitivity of camera pixels by determining image coordinates, moving a virtual vehicle, and calculating sensitivity based on distances between pixels, using a controller, internal parameter system, and storage device to store sensitivity values before navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If continuous distance calculations are performed during navigation, then position accuracy is maintained, but computation time increases
Solution Approach 1:
The patent pre-calculates and stores sensitivity values for camera pixels before navigation begins. These sensitivity values represent the relationship between pixel position changes and actual distance changes. During navigation, the system uses these pre-computed values to quickly determine position without performing continuous complex distance calculations, thus maintaining accuracy while reducing computation time
Solution Approach 2:
The system performs virtual vehicle movements in advance to calculate how pixel positions change with distance, storing these relationships as sensitivity values. This preliminary computation allows the navigation system to rely on pre-stored data rather than real-time calculations, resolving the contradiction between maintaining measurement precision and reducing time loss
2Productivity
If pixel sensitivity is pre-calculated before navigation, then computation time during navigation is reduced, but system complexity increases
Solution Approach 1:
The patent creates a virtual copy of the vehicle and its camera system to perform sensitivity calculations. By simulating vehicle movements in a virtual environment, the system can pre-compute pixel sensitivity values without affecting the actual navigation system. This copying approach adds minimal complexity while enabling efficient pre-calibration
Solution Approach 2:
The system changes the parameter being calculated from real-time distance to pre-computed sensitivity values. By transforming the problem from continuous distance calculation to discrete sensitivity value storage and lookup, the patent reduces navigation-time computation while the added complexity is confined to the pre-processing stage
Data Source
AI summary
A system for calculating the sensitivity of a camera in a vehicle control system includes an internal parameter system, a controller, and a storage device. The internal parameter system is configured to determine an image coordinate of a first pixel in an image. The controller is configured to determine a point on the ground corresponding to the first pixel in the image based on external parameters. The controller is further configured to move the vehicle in a virtual world a predetermined distance, identify a second pixel in the image to which the point of the ground corresponds after the vehicle is moved in the virtual world, and calculate the sensitivity of the camera based on the distance between the position of the first pixel and the position of the second pixel. The storage device is configured to store the sensitivity of the camera.