Farming Machine Camera Array Self-Calibration for Alignment Drift

Solution Overview

Problem

Farming machines face challenges in maintaining accurate alignment of cameras due to collisions or uneven terrain, leading to ineffective image processing and the need for real-time detection and correction of calibration errors.

Innovation Solution

A calibration system on the farming machine identifies calibration errors between camera pairs by analyzing relative poses using visual information from images, including features of the machine and surrounding environment, and transmits error notifications with remediation instructions to operators.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If cameras are mounted on the farming machine to capture images, then visual information can be gathered for farming operations, but the cameras may be knocked out of alignment by collisions or uneven terrain

Engineering Contradiction:

Improveimage capture capabilityVSAvoidcamera alignment

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system performs preliminary calibration of the camera array before farming operations begin. A calibration object with known geometric features is captured by multiple cameras, and the system pre-computes the relative poses and calibration parameters. This preliminary calibration establishes a baseline that can be used to detect and correct alignment drift during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors camera alignment by capturing images of the calibration object during farming operations. It compares the observed relative poses with the expected poses from preliminary calibration, detects deviations, and generates feedback signals to adjust camera mounting positions or update calibration parameters, thereby maintaining reliable alignment despite collisions or terrain variations.

Inventive Principle:

Principle #23Feedback

2Productivity

If the farming machine navigates through the environment, then farming operations can be performed, but sensors may be knocked out of alignment

Engineering Contradiction:

Improvefarming operation efficiencyVSAvoidsensor alignment accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The system performs preliminary calibration of the camera array before farming operations begin. A calibration object with known geometric features is captured by multiple cameras, and the system pre-computes the relative poses and calibration parameters. This preliminary calibration establishes a baseline that can be used to detect and correct alignment drift during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors camera alignment by capturing images of the calibration object during farming operations. It compares the observed relative poses with the expected poses from preliminary calibration, detects deviations, and generates feedback signals to adjust camera mounting positions or update calibration parameters, thereby maintaining reliable alignment despite collisions or terrain variations.

Inventive Principle:

Principle #23Feedback

3Reliability

If real-time calibration detection is implemented, then alignment errors can be corrected promptly, but system complexity increases

Engineering Contradiction:

Improvecalibration accuracyVSAvoidcalibration system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The calibration system is self-contained and autonomous, requiring no external intervention. It automatically captures calibration object images, computes relative poses between cameras, detects calibration errors, and generates correction instructions. The system uses its own camera array and onboard processing resources to perform all calibration functions, eliminating the need for external calibration equipment or manual intervention.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The camera array serves dual functions: it captures images for farming operations (weed detection, crop monitoring) and simultaneously performs self-calibration by detecting the calibration object. The same cameras and image processing pipeline are used for both farming tasks and calibration, eliminating the need for separate dedicated calibration hardware and reducing overall system complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12361593B2Camera array calibration in a farming machine

Publication Date: 2025.07.15 DEERE & CO

AI summary

The calibration system of the farming machine receives images from the camera array. The images comprise visual information representing a view of a portion of an area surrounding the farming machine. To calibrate the camera array, the system determines a relative pose between pairs of cameras by extracting relative position and orientation characteristics from visual information in images captured by the camera pairs. The calibration system determines a calibration error in part by propagating the relative poses between camera pairs. The calibration system may perform automated self-calibration by adjusting one or more of the cameras in the camera array, or may transmit remedial instructions to an operator to adjust the one or more cameras in the camera array.