Sensor Calibration Using LiDAR-Validated Camera Movement
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Solution Overview
Problem
The motion-based method for automatic calibration of sensors on a moving body, such as a vehicle, faces challenges due to low accuracy in calculating movement amounts from camera data, which hinders precise calibration and calculation of relative positions and poses.
Innovation Solution
A data processing apparatus that acquires both an estimated movement amount from camera data and a more accurate estimated movement amount from LiDAR data, and compares these to determine if the camera data can be used for calibration when the difference between the two is below a threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the motion-based method is used for automatic calibration, then the robustness of calibration is improved, but the accuracy of movement amount calculation from camera data is insufficient
Solution Approach 1:
The patent introduces LiDAR data as an intermediary to bridge the gap between camera data and actual movement. The LiDAR-based movement amount calculation serves as a reference standard that validates and corrects camera-based measurements, enabling accurate calibration while maintaining the robustness benefits of motion-based methods.
Solution Approach 2:
The patent implements a feedback mechanism where LiDAR-derived movement amounts are used to correct and validate camera-based movement calculations. This iterative feedback loop continuously refines the accuracy of movement amount measurement, allowing the system to achieve both robustness and precision.
2Device complexity
If camera data is used for movement amount calculation, then the calibration process is simpler, but the accuracy of detected image feature points is low
Solution Approach 1:
The patent merges camera data processing and LiDAR data processing into a unified calibration framework. By combining the simplicity of camera-based methods with the precision of LiDAR-based methods, the system achieves both ease of operation and high measurement accuracy through integrated data fusion.
3Measurement precision
If LiDAR data is used for movement amount calculation, then the accuracy of movement measurement is improved, but the calibration process becomes more complex
Solution Approach 1:
The patent creates a universal calibration framework that can utilize multiple data sources (camera and LiDAR) depending on availability and requirements. The system is designed to flexibly switch between or combine different data sources, making the calibration process adaptable rather than rigidly complex.
Data Source
AI summary
A camera movement amount acquisition unit (101) acquires as a camera movement amount (110), an estimated movement amount of a vehicle (10) calculated using photographed image data acquired by, a camera (20) installed on the vehicle (10). In synchronization with the acquisition of the camera movement amount (110) by the camera movement amount acquisition unit (101), a LiDAR movement amount acquisition unit (102) acquires as a LiDAR movement amount (120), an estimated movement amount of the vehicle (10) with higher estimation accuracy than estimation accuracy of the camera movement amount (110). A comparison decision unit (103) compares the camera movement amount (110) with the LiDAR movement amount (120), and decides to use the camera movement amount (110) for a calibration operation when a difference between the camera movement amount (110) and the LiDAR movement amount (120) is less than a threshold value.