Infrastructure Sensor Calibration via Vehicle Bounding Box Overlap
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Solution Overview
Problem
Infrastructure sensors in vehicles often provide inaccurate data due to calibration issues, leading to incomplete detection of objects, which can affect collision avoidance systems and overall vehicle operation.
Innovation Solution
A system that uses vehicle sensors to calibrate infrastructure sensors by generating transformation matrices based on overlapping bounding box areas, ensuring precise data alignment and improving the accuracy of infrastructure sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If infrastructure sensors are used to detect objects, then coverage area is improved, but measurement precision deteriorates due to calibration issues
Solution Approach 1:
The patent merges infrastructure sensor data with vehicle sensor data by establishing a coordinate transformation relationship between the two sensor systems. The infrastructure sensor provides broad coverage while the vehicle sensor provides precise calibration references, and the combination resolves the calibration accuracy problem through data fusion and transformation matrix computation.
Solution Approach 2:
The patent introduces a coordinate transformation matrix as an intermediary to bridge the infrastructure sensor coordinate system and the vehicle sensor coordinate system. This transformation matrix, computed using overlapping bounding box areas, serves as a mediator that aligns the two different coordinate systems, enabling the infrastructure sensor to achieve both wide coverage and calibration accuracy.
2Measurement precision
If vehicle sensors are used for collision avoidance, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the infrastructure sensor multi-functional by enabling it to perform both wide-area object detection and calibrated measurement through the coordinate transformation. Instead of relying solely on vehicle sensors for all functions, the infrastructure sensor can serve multiple purposes when properly calibrated, reducing the overall system complexity.
Solution Approach 2:
The patent creates a virtual copy of the infrastructure sensor's detection data transformed into the vehicle sensor's coordinate system. This transformed data serves as a calibrated replica that can be used for collision avoidance without requiring additional physical sensors, thereby improving measurement precision without proportionally increasing device complexity.
3Ease of operation
If infrastructure sensor data is used without calibration, then ease of operation is improved, but reliability deteriorates due to inaccurate data
Solution Approach 1:
The patent implements a feedback mechanism where vehicle sensor data is used to continuously calibrate and adjust the infrastructure sensor's coordinate transformation. The overlapping bounding box areas provide feedback information that updates the transformation matrix, ensuring the infrastructure sensor data remains reliable while maintaining ease of operation through automated calibration.
Data Source
AI summary
A computer is programmed to collect first data with a stationary infrastructure sensor describing a first plurality of objects, the first data including at least one movable vehicle, identify a respective first bounding box for each of the first plurality of objects, and receive a message from the vehicle including second data describing a second plurality of objects, whereby at least one object is included in the first plurality of objects and the second plurality of objects. The computer identifies a respective second bounding box for each of the second plurality of objects. The computer identifies, for each object in both the first and second plurality of objects, a respective overlapping area of first and second bounding boxes. The computer transforms coordinates of the first data to coordinates of the second data upon determining that a mean value of the overlapping areas is below a threshold.