Fisheye Camera Trajectory Control With Low-Load Risk Evaluation
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Solution Overview
Problem
Existing technologies for autonomous robots with fisheye cameras face challenges in efficiently evaluating travel risks due to high processing loads from coordinate conversions between fisheye and orthogonal coordinate systems, and require time-consuming marker installations.
Innovation Solution
A control device and method that calculates and modifies travel trajectories in orthogonal and fisheye camera coordinate systems, reducing processing load by evaluating risks directly in the fisheye camera system and adjusting trajectories based on risk assessments without extensive coordinate conversions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate conversion from orthogonal coordinate system to fisheye camera coordinate system is performed for risk evaluation, then risk assessment accuracy is improved, but processing load increases
Solution Approach 1:
Instead of converting the base trajectory from orthogonal coordinate system to fisheye camera coordinate system for risk evaluation, the invention inverts the approach by extracting trajectory information directly from the fisheye camera image and evaluating risk in the original coordinate system, thereby avoiding complex coordinate transformations while maintaining assessment accuracy
Solution Approach 2:
The invention extracts only the necessary trajectory information (position, direction, speed) directly from the fisheye camera image without performing full coordinate conversion, separating the essential navigation data from the complete image processing workflow, thus reducing processing load while preserving risk evaluation capability
2Manufacturing precision
If all points of the image are coordinate-converted for trajectory evaluation, then trajectory accuracy is improved, but processing time increases
Solution Approach 1:
The invention applies partial action by processing only the specific trajectory-related points in the fisheye camera image rather than converting all image points, extracting position and direction information from key features while ignoring unnecessary pixel data, thus achieving adequate trajectory accuracy with reduced processing time
Solution Approach 2:
The invention segments the image processing task into distinct components: trajectory point extraction, coordinate analysis, and risk evaluation, processing only the relevant trajectory segments rather than the entire image, which reduces processing time while maintaining trajectory accuracy for navigation purposes
Data Source
AI summary
A control device includes a storage device which has stored a program, and a hardware processor, in which the hardware processor executes the program stored in the storage device, thereby acquiring a peripheral image of the mobile object, which is an image captured by a fisheye camera mounted on a mobile object, calculating an instruction regarding future traveling of the mobile object as a base trajectory in an orthogonal coordinate system, coordinate-converting the acquired base trajectory in the orthogonal coordinate system into a base trajectory in a fisheye camera coordinate system, calculating a risk of the base trajectory in the fisheye camera coordinate system on the basis of the peripheral image, and the base trajectory in the fisheye camera coordinate system, and calculating a traveling trajectory by modifying the base trajectory in the orthogonal coordinate system on the basis of the risk of the base trajectory in the fisheye camera coordinate system.