Imaging Position Measurement with Adaptive 3D Map Reliability
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Solution Overview
Problem
Existing methods for measuring the position/orientation of an imaging device based on image features suffer from instability when the number of natural feature points is small, leading to decreased accuracy and stability in position measurement.
Innovation Solution
The information processing device evaluates the stability of the position/orientation of the imaging device and adjusts the reliability of features in the three-dimensional map accordingly, prioritizing pre-prepared features when stability is high and extending the map with lower reliability when stability is low, while using auxiliary indicators to enhance measurement range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If high reliability is set for fixed feature points and correction of three-dimensional map is performed, then measurement accuracy is improved, but stability of position measurement decreases when the number of natural feature points is small
Solution Approach 1:
The patent applies dynamics by making the reliability values of feature points adjustable and changeable based on operational conditions. The system dynamically modifies the reliability of fixed feature points and natural feature points according to the current number of available natural feature points, allowing the measurement system to adapt its behavior to different operational scenarios rather than using fixed reliability assignments.
Solution Approach 2:
The patent changes the parameter of reliability values assigned to feature points based on the number of natural feature points detected. When natural feature points are scarce, the system adjusts the reliability parameters to maintain stable position measurements while still achieving acceptable accuracy through auxiliary indicators and dynamic parameter modification.
2Device complexity
If the number of natural feature points is small, then the complexity of the system is reduced, but the stability of position measurement decreases
Solution Approach 1:
The patent introduces auxiliary indicators as intermediary elements that bridge the gap when natural feature points are insufficient. These auxiliary indicators serve as additional reference points that help maintain position measurement stability without requiring a complex increase in the number of natural feature points, thus solving the stability problem while keeping system complexity manageable.
3Measurement precision
If the three-dimensional map is corrected frequently, then measurement accuracy is improved, but the time required for processing increases
Solution Approach 1:
The patent implements periodic action by performing three-dimensional map correction at specific intervals or under specific conditions rather than continuously. The system determines when correction is necessary based on the number of natural feature points and current measurement stability, allowing processing to occur periodically when beneficial rather than continuously, thus reducing overall processing time while maintaining accuracy when needed.
Data Source
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AI summary
An information processing device includes a derivation unit configured to derive a position of an imaging device using a captured image and a three-dimensional map; an evaluation unit configured to evaluate a stability of the position based on information used to derive the position; a preparation unit configured to prepare the three-dimensional map based on the captured image and the position; a setting unit configured to set information indicating reliabilities of information indicating the three-dimensional position of the feature of the subject and information indicating a three-dimensional position of the feature included in a predetermined area in the three-dimensional map, which are acquired based on the captured image in an extended area of a predetermined area, based on a result of evaluation from the evaluation unit; and a correction unit configured to correct the three-dimensional map based on the information indicating the reliabilities set.