Multi-Sensor Observation Calibration for Real-Space Positioning
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Solution Overview
Problem
Existing observation apparatuses using multiple sensors face challenges in calibration that reduce detection accuracy during sensor fusion, necessitating improved calibration techniques.
Innovation Solution
An observation apparatus and method that utilize a controller to perform calibration based on feature points in distinct regions of overlapping and non-overlapping observation regions of multiple sensors, establishing coordinate systems and generating associated data to accurately determine object positions in real space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration is performed on each sensor separately, then detection accuracy of individual sensors is improved, but deviations between sensor coordinate systems increase
Solution Approach 1:
The patent merges the calibration processes of multiple sensors by performing calibration simultaneously for a first sensor and a second sensor using a unified calibration object with multiple feature points. This combined approach allows the coordinate systems of multiple sensors to be aligned together, resolving the contradiction between individual sensor accuracy and coordinate system alignment by treating calibration as a collaborative process rather than separate operations.
Solution Approach 2:
The calibration object serves as an intermediary element that mediates between multiple sensors during calibration. By placing feature points on the calibration object that are detectable by multiple sensors, the object acts as a reference framework that facilitates coordinate system alignment. This intermediary approach enables simultaneous calibration of multiple sensors while maintaining coordinate system consistency, addressing the contradiction between individual measurement precision and overall system reliability.
2Area of stationary object
If multiple sensors are used to expand observation range, then detection coverage is improved, but calibration complexity increases
Solution Approach 1:
The calibration object is designed with multi-functionality, serving multiple sensors simultaneously while maintaining a single unified structure. The calibration object includes multiple feature points that can be detected by different sensors, allowing one calibration object to perform calibration for multiple sensors at once. This universal approach expands observation range through multiple sensors while avoiding the increased complexity that would result from separate calibration procedures for each sensor.
3Measurement precision
If calibration is performed frequently to maintain accuracy, then detection precision is improved, but operational time consumption increases
Solution Approach 1:
The patent performs preliminary calibration actions by establishing coordinate systems for multiple sensors simultaneously during an initial calibration process. By performing this comprehensive calibration upfront using a unified approach with multiple feature points, the system achieves high detection precision without requiring repeated calibration operations. The preliminary simultaneous calibration establishes a solid coordinate system foundation that reduces the need for frequent recalibration, thereby reducing time loss while maintaining precision.
Data Source
AI summary
An observation apparatus includes a controller. The controller performs calibration based on a feature point set for a first region among the first region, a second region, and a third region and information on a position of the feature point in a real space. The controller acquires information on a position, in the real space, of a predetermined point in an observation region of a first sensor or an observation region of a second sensor. The first region corresponds to both the observation region of the first sensor and the observation region of the second sensor. The second region corresponds to the observation region of the first sensor and does not overlap the first region. The third region corresponds to the observation region of the second sensor and does not overlap the first region.