Curbstone Detection Using Single Camera Projection
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Solution Overview
Problem
Current vehicle systems lack effective methods for reliably detecting and controlling the position of curbstones using a single camera, which hinders precise vehicle guidance and safety.
Innovation Solution
A method utilizing a camera with a fish-eye lens to detect curbstones by projecting line segments onto a ground plane, assigning three-dimensionally triangulated points, and ascertaining the flank plane, allowing for precise detection and control of the curbstone's position relative to the vehicle, including distance calculation and warning signals for safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single camera is used to detect curbstone position, then device complexity is reduced, but measurement precision and reliability deteriorate
Solution Approach 1:
The patent projects detected line segments from the two-dimensional image plane onto a three-dimensional ground plane, and further determines three-dimensional flank planes of the curbstone. This dimensional transformation enables precise spatial positioning using only a single camera, resolving the contradiction between device simplicity and measurement precision.
Solution Approach 2:
The patent replaces multi-camera mechanical systems with a single camera combined with computational geometry methods. By using mathematical projection and triangulation algorithms, the system achieves accurate three-dimensional curbstone positioning without requiring multiple physical cameras, thus reducing device complexity while maintaining measurement precision.
2Reliability
If multiple camera devices are used to improve detection reliability, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent substitutes complex multi-camera mechanical systems with a single camera augmented by sophisticated image processing and geometric computation. The reliable detection is achieved through algorithmic triangulation and plane determination rather than redundant hardware, maintaining reliability while minimizing device complexity.
3Measurement precision
If three-dimensional triangulation is performed to improve position accuracy, then measurement precision improves, but computational complexity increases
Solution Approach 1:
The patent segments the curbstone detection task into distinct computational stages: line segment detection in the image plane, projection onto the ground plane, identification of triangulated points, and determination of flank planes. This segmentation of the computational process makes the complex three-dimensional reconstruction manageable and implementable through systematic algorithmic steps.
Data Source
AI summary
A method for detecting a curbstone in an environment of a vehicle. The method includes recognizing at least one line segment that belongs to the curbstone with the aid of image data that are read in by an interface to a camera device of the vehicle. The line segment is projected onto a ground plane of the environment in order to generate a projected line segment. A subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle is assigned to the line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment. A flank plane of the curbstone is ascertained with the aid of the assigned points.