Computational Spatial Alignment of Laser Scanner and Camera
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Solution Overview
Problem
Existing traffic monitoring systems face challenges in establishing a known, fixed spatial relationship between a laser scanner and a digital camera at the point of use, especially when devices are set up separately, making on-site adjustment complex and dangerous, particularly when monitoring multiple lanes.
Innovation Solution
Align the laser scanner and digital camera such that the surveillance area is covered by the camera's object field, allowing for transformation of measurement values from the scanner coordinate system into the camera coordinate system through translational and rotational movements, enabling precise superimposition of measurement structures onto vehicle images without physical realignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the laser scanner and digital camera are adjusted to each other using a stationary measuring body during assembly, then the spatial relationship between the two devices is precisely established, but the adjustment process becomes complex and dangerous when devices are set up separately at the place of use, especially when monitoring multiple lanes
Solution Approach 1:
The patent replaces the mechanical adjustment system (physical alignment using stationary measuring bodies) with a computational system. The control and evaluation unit automatically calculates the spatial relationship between the laser scanner and digital camera by processing measurement data from the laser scanner and corresponding image data from the camera, eliminating the need for complex manual mechanical adjustment on-site.
Solution Approach 2:
The patent creates a virtual model of the spatial relationship between the laser scanner and digital camera through computational processing. Instead of physically aligning the devices using measuring bodies, the system creates a digital representation of their spatial relationship by correlating laser measurement coordinates with camera image coordinates, which can be established and adjusted software-based on-site.
2Adaptability or versatility
If the laser scanner and digital camera are set up separately at the place of use, then the device flexibility and adaptability are improved, but the on-site adjustment becomes extremely complex and possibly dangerous
Solution Approach 1:
The patent replaces complex mechanical adjustment procedures with an automated computational system. The control and evaluation unit performs automatic coordinate transformation and spatial relationship establishment by processing data from both devices, eliminating the need for manual mechanical alignment procedures that are complex and dangerous when devices are set up separately.
Solution Approach 2:
The system performs self-alignment through automated computational processing. The control and evaluation unit automatically establishes the spatial relationship between the laser scanner and digital camera by correlating their measurement and image data, without requiring external measuring bodies or complex manual adjustment procedures, enabling the system to self-calibrate on-site.
3Reliability
If physical realignment procedures are performed on-site, then the spatial relationship between scanner and camera is established, but safety risks and time consumption increase
Solution Approach 1:
The patent replaces time-consuming physical realignment procedures with rapid computational processing. The control and evaluation unit automatically establishes the spatial relationship by processing laser measurement data and camera image data through coordinate transformation algorithms, significantly reducing on-site preparation time while maintaining high reliability.
Solution Approach 2:
The system performs preliminary data collection and processing to establish the spatial relationship. The laser scanner and digital camera simultaneously capture measurement and image data of the same target objects, and the control unit processes this data to establish the spatial relationship before actual traffic monitoring begins, reducing on-site preparation time and safety risks.
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
Facilitates faster and safer on-site preparations for traffic monitoring by establishing a known spatial relationship between the scanner and camera coordinate systems solely through computational means, ensuring accurate vehicle detection and marking without physical adjustment risks.
Implementation Method 1
a laser scanner (1) with a laser scanner axis (1'), around which a laser beam (L) is deflected by a constantly changing scanning angle (ε), to scan a surveillance area
Implementation Method 2
The transit time of the pulsed laser beam (pulse transit time) to the appropriate vehicle and back correlates with the distance covered
Implementation Method 3
a digital camera (3) with an optical axis (3'), around which the digital camera (3) and thus its image plane can be rotated as desired
Data Source
Figure 1a~1c
Figure 1d~1e
Figure 2a~2b
AI summary
Method for establishing a known fixed spatial relationship between a laser scanner and a digital camera for traffic monitoring, wherein the laser scanner axis and the optical axis of the digital camera are only roughly aligned to each other and the spatial relationship between a scanner coordinate system (1) defined by the position of the laser scanner and the orientation of the laser scanner axis and a camera coordinate system (3) defined by the position of the digital camera and the orientation of its optical axis is determined computationally, based on the measured values and the image of a vehicle passing through the monitoring area.