Hybrid Movement Estimation Using LiDAR and Camera Frame Offsets
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Solution Overview
Problem
Existing LiDAR-based self-position estimation systems face challenges in accurately estimating movement amounts due to limited frame rates of distance information, leading to inaccuracies in movement estimation.
Innovation Solution
A system that integrates a distance sensor and an external camera to estimate movement amounts by combining reflected light and background light images with camera images, utilizing synchronized but offset capture timings to increase frame rates and enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR is used as a distance sensor for self-position estimation, then distance information can be obtained, but the frame rate is limited leading to inaccurate movement estimation
Solution Approach 1:
The patent combines LiDAR distance information with camera image information to create a hybrid estimation system. The movement amount estimation unit integrates data from both the distance sensor (LiDAR) and the camera element, merging their respective strengths to overcome the limited frame rate of LiDAR alone while maintaining accurate movement estimation.
2Measurement precision
If multiple image sources are integrated to improve movement estimation accuracy, then measurement precision increases, but device complexity increases
Solution Approach 1:
The light receiving element serves multiple functions: it detects both the reflected light for distance measurement and the background light for luminance information. This multi-functionality reduces the need for separate dedicated sensors, thereby managing device complexity while improving movement estimation accuracy through integrated multi-source data.
3Measurement precision
If background light detection is added to the light receiving element, then luminance information is obtained improving accuracy, but the element must handle multiple detection tasks
Solution Approach 1:
The patent merges the detection functions by having the same light receiving element detect both reflected light (for distance) and background light (for luminance). This combining approach obtains multiple types of information from a single element, improving accuracy while avoiding the complexity of adding separate dedicated sensors for each detection task.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves higher accuracy in movement estimation by incorporating luminance and distance information from multiple sources, stabilizing frame rates and reducing computational load, ensuring precise movement tracking even in environments with few stationary structures.
Implementation Method 1
distance information obtained by emitting light and detecting the light reflected from an object
Implementation Method 2
luminance information obtained by detecting background light relative to the light reflected from the object
Data Source
AI summary
A movement amount estimation device includes an image acquiring unit and an estimation unit. The image acquiring unit is configured to acquire a reflected light image, a background light image, and a camera image. The reflected light image contains distance information obtained by emitting light and detecting the light reflected from an object by a light receiving element. The background light image contains luminance information obtained by detecting background light relative to the light reflected from the object by the light receiving element. The camera image is captured by a camera element that is different from the light receiving element. The estimation unit is configured to estimate a movement amount of an estimation target using information of a captured object commonly detected in the reflected light image, the background light image, and the camera image.