Obstacle Detection Device Using Inclined Camera Coordinate Transformation
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Solution Overview
Problem
Existing obstacle detection systems for industrial vehicles cannot accurately determine the position of obstacles, such as people, on the ground, despite being able to measure distances.
Innovation Solution
An obstacle detection device equipped with a camera mounted on an industrial vehicle, where the camera's optical axis is inclined relative to a reference plane, allowing the detection of an obstacle's position by estimating and converting image coordinates into a world coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera optical axis is inclined relative to the reference plane to enable position detection, then the ability to detect obstacle position on the ground is improved, but the coordinate conversion complexity increases
Solution Approach 1:
The patent transforms the two-dimensional image coordinates into a three-dimensional world coordinate system by introducing the Z-axis (depth direction) and using the known distance from the camera to the reference plane. This dimensional transformation enables accurate position detection on the ground by establishing a relational expression between image coordinates and world coordinates, resolving the contradiction between detection capability and system complexity.
2Area of stationary object
If the camera is mounted with an inclined optical axis to capture ground obstacles, then the detection coverage of obstacles on the ground is improved, but the distortion in captured images increases
Solution Approach 1:
The patent changes the camera mounting parameters (inclined optical axis) to expand detection coverage, and compensates for the resulting geometric distortion through coordinate transformation. By establishing a mathematical relationship between the inclined camera coordinates and the world coordinate system, the system maintains measurement accuracy despite the inclined mounting configuration, thus resolving the contradiction between coverage area and image accuracy.
3Device complexity
If a simple distance measurement method is used, then the device complexity is reduced, but the ability to determine actual position on the ground is lost
Solution Approach 1:
The patent introduces a coordinate transformation system as an intermediary between simple distance measurement and complete position determination. By establishing a relational expression that acts as a mathematical mediator between image coordinates and world coordinates, the system converts basic distance information into comprehensive position information (X, Y, Z coordinates) without requiring complex additional hardware, thus resolving the contradiction between device simplicity and information completeness.
Data Source
AI summary
An obstacle detection device includes: a camera; and a detector for detecting an obstacle. A part of the obstacle located on the reference plane serves as a detection object. The detector is configured to: estimate coordinates of the detection object in an image coordinate system of a captured image; convert the coordinates of the detection object in the image coordinate system of the captured image into coordinates of the detection object in an image coordinate system of a developed image that is parallel to the reference plane; and calculate a position of the detection object on the reference plane by using the distance from the camera to the reference plane and a relational expression between the coordinates in the image coordinate system of the developed image and coordinates of the detection object in a world coordinate system with the camera centered.