Multi-Camera Pose Estimation Using Hierarchical Vanishing Lines
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Solution Overview
Problem
Conventional technologies face challenges in estimating the poses of multiple cameras on a vehicle when camera-camera relationships are difficult to determine, especially when two or more cameras are out of alignment, leading to lost camera-road relationship information and the need for repeated calibration.
Innovation Solution
An apparatus and method for estimating poses of multiple cameras using vanishing line information detected from two cameras, transmitting this information hierarchically to other cameras, and calculating differences to converge within a predetermined error value, allowing for the estimation of camera poses without offline calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional pose estimation methods are used with multiple cameras, then the system can estimate poses when cameras are properly aligned, but the system fails when two or more cameras are out of alignment causing lost calibration information
Solution Approach 1:
The patent introduces vanishing line information as an intermediary element that mediates between misaligned cameras. By detecting vanishing lines in images from cameras with unknown relative poses and using these vanishing lines to constrain pose estimation, the system can reliably estimate poses even when cameras are out of alignment, without requiring traditional calibration information.
Solution Approach 2:
The patent changes the fundamental parameters used for pose estimation from traditional calibration-based parameters to vanishing line parameters. By detecting vanishing lines (which represent directions of parallel lines in 3D space) and using them to formulate constraints on camera poses, the system transforms the pose estimation problem into one that is solvable without precise calibration information.
2Measurement precision
If repeated calibration is performed to maintain camera alignment, then calibration accuracy can be maintained, but time and resources are continuously consumed
Solution Approach 1:
The patent enables the camera system to self-calibrate by automatically detecting vanishing lines from scene geometry and using these detections to estimate relative poses. The system serves itself by extracting calibration information directly from the environment rather than requiring external calibration tools or procedures, thereby eliminating time-consuming manual calibration processes.
Solution Approach 2:
The patent performs preliminary pose estimation using vanishing line constraints before traditional calibration would be needed. By establishing initial pose estimates from vanishing line geometry, the system prepares the camera network for operation without requiring prior calibration, enabling immediate use of the system upon deployment.
3Measurement precision
If traditional calibration procedures are used for multiple cameras, then accurate pose estimation is achieved for aligned cameras, but the process requires offline calibration and cannot adapt to post-factory misalignment
Solution Approach 1:
The patent replaces the mechanical calibration process (which requires physical adjustment of cameras and specialized equipment) with a computational approach based on vanishing line detection. Instead of mechanically aligning cameras during manufacturing, the system uses image processing and geometric constraints to automatically determine relative poses, simplifying the manufacturing process while maintaining accuracy.
Data Source
AI summary
A method of estimating poses of multiple cameras mounted on a vehicle includes detecting a vanishing line from each of a first camera and a second camera. The method also includes transmitting first vanishing line information of the first camera to each of the cameras hierarchically connected to the first camera and transmitting second vanishing line information including the vanishing line of the second camera to each of the cameras hierarchically connected to the second camera. The method further includes calculating a difference between the two pieces of vanishing line information in at least one camera that receives both the first vanishing line information and the second vanishing line information. The method further includes obtaining final vanishing line information in which the difference between the two pieces of vanishing line information converges to within a predetermined reference error value, and estimating a pose of each of the multiple cameras.