Monocular Robot Distance Measurement Without Odometry
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Solution Overview
Problem
Existing robotic systems face challenges in accurately determining distance traveled without relying on odometry, which can be costly and complex, especially for mobile robots with non-traditional locomotion methods like flying or floating.
Innovation Solution
A semiautonomous robot design featuring at least two powered locomotion devices and a monocular capture unit that rotates about a fixed rotational axis, utilizing a control and/or regulating unit to determine a distance conversion parameter based on image analysis and epipolar geometry, allowing direct and accurate distance measurement independent of additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If odometry is used to determine distance traveled, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces mechanical odometry systems with a vision-based measurement system. A monocular capture unit records images at different positions, and a control unit calculates distance traveled by analyzing the parallax effect and epipolar geometry between these images. This optical approach eliminates complex mechanical sensors while achieving accurate distance measurement through geometric computation.
Solution Approach 2:
The patent introduces an image-based intermediary measurement method. Instead of directly measuring distance with physical sensors, the system uses images captured by a monocular unit as an intermediary. The control unit processes these images to extract distance information, creating an indirect but accurate measurement path that avoids complex direct sensing.
2Measurement precision
If additional sensors are added to improve distance measurement accuracy, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the monocular capture unit multi-functional. The same capture unit that records environmental images for navigation also serves as the primary tool for distance measurement. By analyzing parallax and epipolar geometry from these universal images, the system eliminates the need for dedicated distance sensors, achieving accurate measurement with existing components.
Solution Approach 2:
The system uses its own capture unit to measure distance without requiring external sensors. The control unit processes images from the robot's built-in monocular capture unit to determine distance traveled, allowing the robot to self-measure its position changes using resources already available on board.
3Device complexity
If a fixed rotational axis is used for the capture unit, then device complexity is reduced, but adaptability to different measurement scenarios decreases
Solution Approach 1:
The patent changes the measurement parameters through software rather than mechanical adjustment. The control unit calculates distances based on image analysis parameters (parallax, epipolar geometry) derived from the fixed rotational axis setup. By varying computational parameters and image processing methods, the system adapts to different measurement scenarios without requiring physical reconfiguration of the capture unit.
Data Source
AI summary
A semiautonomous robot. The robot includes at least two powered locomotion devices and a monocular capture unit. The at least two locomotion devices are designed to rotate at least the capture unit about a rotational axis, which is situated in a fixed position relative to the capture unit, the capture unit and the rotational axis being set apart from each other. The robot further includes at least one control and/or regulating unit for ascertaining a distance traveled. As a function of a movement of the capture unit about the rotational axis fixed during the movement, in particular, at a known distance from the rotational axis and/or in a known orientation relative to the rotational axis, the control and/or regulating unit is configured to determine a distance conversion parameter, which is provided for ascertaining the distance traveled.