Integrated LiDAR and Camera Sensor System for Alignment Drift
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately calibrating and aligning data from separate LiDAR and optical camera sensors due to thermal changes and vibrations, leading to drift and calibration errors, which complicates the creation of a precise three-dimensional model of the environment.
Innovation Solution
An integrated imaging and range measurement system using a common transmitter and receiver with a beam splitter to direct different wavelengths of light to both LiDAR and camera sensors, ensuring perfect overlap of the field of view and reducing the need for complex alignment processing, and utilizing solid-state devices with no moving parts for stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If separate LiDAR and optical camera sensors are used to obtain depth and image profiles, then the environmental sensing capability is improved, but the alignment and calibration complexity increases due to thermal changes and vibrations
Solution Approach 1:
The patent combines LiDAR and optical camera sensors into a single integrated sensor assembly where both sensors share a common field of view and are optically aligned. This merging eliminates the need for complex post-acquisition alignment and calibration processing, as the sensors inherently capture data from the same spatial perspective. The integrated design ensures that depth and image profiles are naturally synchronized, resolving the alignment complexity issue while maintaining enhanced environmental sensing capability.
2Area of stationary object
If separate LiDAR and optical camera sensors are placed at different positions, then the sensing coverage is improved, but the data alignment accuracy deteriorates due to distance between sensors
Solution Approach 1:
The patent implements a nested sensor configuration where the optical camera and LiDAR sensors are positioned within the same housing structure with their optical axes precisely aligned. The sensors are nested such that they observe the same scene from effectively the same position, eliminating parallax errors and alignment issues that would arise from spatial separation. This nested arrangement maintains comprehensive sensing coverage while ensuring high data alignment accuracy.
3Ease of manufacture
If traditional separate sensor systems are used, then the manufacturing simplicity is maintained, but the drift and calibration errors increase due to thermal amplitudes and vibrations
Solution Approach 1:
The patent segments the sensor system into functionally independent but spatially integrated components, with each sensor (LiDAR and optical camera) maintaining its own operational characteristics while sharing a common mounting structure and field of view. This segmentation allows each sensor to be optimized for its specific function while the integrated mounting ensures they respond identically to thermal and vibrational conditions, eliminating differential drift and calibration errors.
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
This solution synchronizes LiDAR and image data collection, reduces processing power, and provides an athermalized, physically stable system with synchronized depth and image data, eliminating the need for alignment processing and enhancing data accuracy and reliability.
Implementation Method 1
a common transmitter and receiver with a beam splitter to direct different wavelengths of light to both LiDAR and camera sensors
Implementation Method 2
A LiDAR sensor works by emitting a light beam and measuring the time it takes to return. The return time for each return light beam is combined with the location of the LiDAR sensor to determine a precise location of a surface point of an object
Implementation Method 3
a light detector (e.g., a charge-coupled device (CCD) or CMOS image sensor) turns the captured light into electrical signals including color and brightness of each pixel of the image
Data Source
AI summary
In one embodiment, an apparatus includes a transmitter operable to transmit a first light beam from a light source. The apparatus also includes a receiver operable to receive a plurality of return light beams and direct the plurality of return light beams through a first beam splitter to an imaging sensor and a LiDAR sensor. The imaging sensor may be operable to process a first portion of the return light beams into image profile data, and the LiDAR sensor may be operable to process a second portion of the return light beams into depth profile data. In addition, the first and second portions of the return light beams may be received from a shared field of view.