Dual-Camera Ranging with Fisheye Undistortion for Close-Range Accuracy
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Solution Overview
Problem
Existing vehicle navigation systems struggle to accurately detect distances to surrounding objects, particularly at close ranges, increasing the risk of traffic accidents.
Innovation Solution
A ranging system utilizing a pinhole camera and a fisheye camera with different field-of-views, combined with a processor, to capture and process images for undistortion and size conversion, enabling accurate distance measurement through transformation relations between camera planes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single camera is used for distance detection, then the device complexity is low, but the measurement precision is insufficient especially at close ranges
Solution Approach 1:
The system divides the detection task into two specialized components: a pinhole camera for precise optical axis detection and a fisheye camera for wide-angle field-of-view coverage. Each camera type is optimized for specific detection scenarios, with the pinhole camera handling central region measurements and the fisheye camera covering peripheral areas, thereby achieving high precision without requiring a complex multi-camera array.
Solution Approach 2:
Different camera types are deployed to capture different regions of the scene with appropriate quality characteristics. The pinhole camera provides high-quality precise measurements for objects within its narrow field-of-view, while the fisheye camera provides adequate quality coverage for objects in the wider peripheral region. The system selectively processes images from each camera based on the target's location and required precision.
2Measurement precision
If a pinhole camera is used, then the measurement precision is high, but the field-of-view is limited
Solution Approach 1:
The system merges the outputs of two camera systems with complementary characteristics. The pinhole camera captures high-precision images of objects within its narrow field-of-view, while the fisheye camera simultaneously captures a broader scene. By integrating data from both cameras and applying coordinate transformations, the system achieves both wide coverage and high precision measurements for objects in the overlapping region.
3Area of stationary object
If a fisheye camera is used, then the field-of-view is large, but the image distortion increases
Solution Approach 1:
The system introduces an intermediary processing step that establishes a transformation relationship between the fisheye camera's distorted image space and the pinhole camera's undistorted reference space. By creating this intermediate coordinate system mapping, the system can accurately locate objects detected in the fisheye image by transforming their coordinates to the pinhole camera's coordinate system, where precise measurement can be performed without suffering from fisheye distortion.
Data Source
AI summary
A ranging system includes a pinhole camera, a fisheye camera and a processor. The pinhole camera captures a pinhole image. The fisheye camera captures a fisheye image. The processor performs a undistorting process on the fisheye image to obtain a corresponding undistorted fisheye image, perform a size-converting process on the pinhole image to obtain a corresponding size-converted pinhole image, obtain a transformation relation between a pinhole image plane of the pinhole camera and a fisheye image plane of the fisheye camera, obtain a corresponding point of the corresponding undistorted fisheye image corresponding to a target point of the corresponding size-converted pinhole image based on the transformation relation, and obtain a distance between the ranging system and the physical point based on the transformation relation, the target point and the corresponding point.