Dynamic Map Element Correction for 3D Positioning Accuracy
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Solution Overview
Problem
Existing techniques for correcting three-dimensional map information in environments with moving bodies face limitations in accuracy due to insufficient differences in viewpoint, leading to unreliable position and orientation calculations, especially when image features are far from the camera.
Innovation Solution
An information processing apparatus that dynamically adjusts the number of map elements targeted for correction based on the difference in viewpoint, expanding the correction range when the viewpoint difference is insufficient to improve accuracy, and reducing the number when sufficient, to minimize reprojection errors and enhance positional and orientational precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only a predetermined number of map elements are set as correction targets, then map correction can be performed within a predetermined time, but the geometric accuracy of the map is limited
Solution Approach 1:
The patent dynamically adjusts the number of map elements selected for correction based on the difference in viewpoint. When the difference in viewpoint is small, more map elements are selected to improve accuracy; when the difference is large, fewer elements are selected to maintain efficiency. This dynamic selection resolves the contradiction between accuracy and time by adapting the correction scope to the actual geometric conditions.
Solution Approach 2:
The patent changes the parameter of map element selection quantity based on the viewpoint difference parameter. By using the difference in viewpoint as a threshold to determine how many map elements to correct, the system optimizes the balance between correction accuracy and processing time, avoiding both over-correction and under-correction.
2Reliability
If the difference in viewpoint of images is small, then processing is faster, but the reliability of three-dimensional position information varies and accuracy decreases
Solution Approach 1:
The patent uses the difference in viewpoint as a key parameter to determine the correction strategy. When this parameter is below a threshold, the system increases the number of map elements for correction, thereby improving reliability without requiring complex additional hardware or processes.
Solution Approach 2:
The system evaluates the difference in viewpoint and provides feedback to adjust the number of map elements selected for correction. This feedback mechanism ensures that sufficient geometric information is used for reliable three-dimensional position estimation while maintaining processing efficiency.
Data Source
AI summary
An information processing apparatus generates a map element that is based on a position and orientation of an image capturing apparatus and three-dimensional position information about a feature point included in an image, generates three-dimensional map information based on a plurality of map elements at a plurality of different positions and orientations, corrects, in such a way as to make smaller a reprojection error of a common feature point in a first map element group, at least one of a position and orientation of the image capturing apparatus and the three-dimensional position included in the first map element group, and corrects, in such a way as to make smaller a reprojection error of the common feature point with use of a second map element group, at least one of a position and orientation of the image capturing apparatus and the three-dimensional position information included in the second map element group.