Dynamic Camera Calibration for Articulated Vehicle Views
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Solution Overview
Problem
Existing camera systems for vehicles, especially those with trailers or articulated vehicles, struggle to generate virtual all-round or top views when cameras are mounted on moving parts, as the changing positions and orientations of these cameras disrupt the calibration, preventing the combination of camera data into a cohesive image.
Innovation Solution
A camera system that allows multiple cameras to be attached to moving parts of a vehicle, with a computing device that corrects camera calibration based on movement models and detection units, enabling the combination of individual images into an overall view, regardless of the camera's position or orientation, using stored calibration data and CAD models to account for movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If cameras are mounted on moving parts of the vehicle, then the camera system can be used on vehicles with trailers or articulated vehicles, but the changing positions and orientations of the cameras disrupt the calibration and prevent the combination of camera data into a cohesive image
Solution Approach 1:
The system dynamically updates camera calibration data based on detected movements. The computing device receives movement information from detection units (accelerometers, gyroscopes) and recalculates calibration parameters in real-time, allowing the system to adapt to changing camera positions while maintaining image coherence. This transforms a static calibration approach into a dynamic one that continuously adjusts to movement.
Solution Approach 2:
The system implements a feedback loop where detection units monitor camera movement, trigger recalibration when movement exceeds thresholds, and feed updated calibration data back to the image processing pipeline. This closed-loop control ensures that calibration accuracy is maintained despite camera movements on articulated vehicles.
2Measurement precision
If camera calibration is corrected based on movement models and detection units, then accurate virtual top or all-round views can be generated from movable cameras, but the system complexity increases with additional computing requirements
Solution Approach 1:
The system performs preliminary calibration of cameras when they are in known reference positions (e.g., when the vehicle is stationary or in a standard configuration). These pre-calibrated parameters are stored and serve as baseline data, reducing the computational burden during dynamic operation. The detection units only need to detect deviations from these reference states rather than performing full calibration continuously.
Solution Approach 2:
Instead of recalculating complete calibration matrices when movement occurs, the system updates only the specific calibration parameters that are affected by the detected movement (e.g., rotation angles, translation vectors). This selective parameter updating significantly reduces computational complexity while maintaining accuracy.
3Adaptability or versatility
If multiple cameras are attached to moving parts independently, then the camera system can capture images around the vehicle regardless of position or orientation, but the difficulty of detecting and measuring camera positions increases
Solution Approach 1:
The system combines multiple detection methods (accelerometers, gyroscopes, magnetometers) into an integrated detection unit that collectively tracks camera position and orientation. By merging these sensor inputs, the system achieves comprehensive position detection without requiring complex individual sensor systems for each camera.
Solution Approach 2:
The computing device acts as an intermediary that processes raw sensor data from detection units and translates it into meaningful calibration corrections. It mediates between the physical movement of cameras and the digital image processing pipeline, converting complex sensor readings into usable calibration parameters.
Data Source
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AI summary
The present invention relates to a camera system (1) for a vehicle (2) comprising a first camera (3) which is movable relative to at least a second camera (4), a storage device (5) for storing one camera calibration of each camera (3, 4), wherein individual images of the first camera (3) and the second camera (4) can be combined to form an overall view based on the camera calibrations, and a computing device (6) configured to correct the stored camera calibration of the first camera (3) due to a movement of the first camera (3), and to generate the overall view based on the stored camera calibrations.