Mobile Object Attitude Estimation Using Filtered Vanishing Points
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Solution Overview
Problem
Existing attitude estimation devices for mobile objects, such as those described in PTL 1, fail to accurately estimate the attitude due to poor calculation accuracy of vanishing points, leading to inappropriate content display.
Innovation Solution
A display system that includes an attitude estimation device capable of obtaining position information from optical flows, determining valid vanishing points based on predetermined conditions, and estimating the attitude of a mobile object to accurately overlay content on a target object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If vanishing points are calculated based on optical flows from multiple images, then attitude estimation can be performed, but the calculation accuracy of vanishing points becomes poor leading to inaccurate attitude estimation
Solution Approach 1:
The patent applies local quality by evaluating each vanishing point individually against specific conditions (displacement condition, variability condition, positional condition) and selectively using only those that satisfy the conditions. This allows the system to maintain high attitude estimation accuracy by filtering out poorly calculated vanishing points while still utilizing the optical flow method.
Solution Approach 2:
The patent performs preliminary actions by calculating and storing position information for vanishing points before using them in attitude estimation. The determiner component evaluates vanishing points against predetermined conditions in advance, and only valid vanishing points are passed to the estimator. This preliminary filtering prevents poor calculations from affecting the final attitude estimation accuracy.
2Measurement precision
If all vanishing points are used for attitude estimation, then the estimation process is simple, but the accuracy deteriorates due to inclusion of poorly calculated vanishing points
Solution Approach 1:
The patent segments the vanishing point evaluation process into distinct conditions: displacement condition (comparing vanishing point positions across images), variability condition (assessing consistency of optical flow), and positional condition (checking vanishing point location). This segmentation allows systematic evaluation of each vanishing point's quality before use in attitude estimation.
Solution Approach 2:
The patent introduces an intermediary component (the determiner) that acts as a mediator between the vanishing point calculation and the attitude estimation. This intermediary evaluates and filters vanishing points based on predetermined conditions, preventing poor calculations from directly affecting the final estimation while maintaining a relatively simple overall process structure.
3Measurement precision
If vanishing points are filtered based on multiple conditions, then attitude estimation accuracy improves, but the processing time increases
Solution Approach 1:
The patent applies partial action by implementing selective filtering - not all vanishing points need to undergo full validation, and the system can adjust the strictness of conditions based on computational resources. The determiner component can evaluate vanishing points against conditions and stop processing a particular vanishing point early if it clearly fails, reducing overall processing time while maintaining accuracy.
Data Source
AI summary
A display system includes: a position information obtainer that obtains position information indicating the position of a vanishing point calculated on the basis of two or more optical flows relating to each of a plurality of images captured by an imager that is mounted on a mobile object and repeatedly performs image capturing; a determiner that determines whether each of a plurality of vanishing points satisfies a predetermined condition, on the basis of a corresponding one of items of position information obtained by the position information obtainer; and an estimator that estimates an attitude of the mobile object, on the basis of one or more vanishing points, among the plurality of vanishing points, that are determined by the determiner to satisfy the predetermined condition.