Omnidirectional Stereo Camera System for Robot Localization
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Solution Overview
Problem
Current localization methods for robots, such as optical tracking systems and wireless communication, face challenges like high costs, line-of-sight constraints, interference, and limited outdoor use, making them unsuitable for efficient robot swarm operations.
Innovation Solution
An omnidirectional stereo camera system with convex mirrors and cameras for on-board localization, which captures stereo imagery to determine the position and orientation of robots within an environment, using calibration methods to refine mirror and camera positions for accurate 3D reconstruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking systems are used for localization, then millimeter-accuracy localization is achieved, but high cost and fixed infrastructure requirements occur
Solution Approach 1:
The patent introduces convex mirrors as intermediary elements that enable cameras to capture reflections of robots and environment. This intermediary approach allows localization without requiring complex fixed infrastructure like optical tracking systems, while still achieving accurate position determination through image processing of reflected light paths.
Solution Approach 2:
The patent replaces mechanical/optical tracking infrastructure with a vision-based system using cameras and convex mirrors. Instead of using specialized optical tracking hardware, the system uses standard cameras combined with geometric reflection principles to achieve localization, thereby eliminating the need for fixed infrastructure.
2Ease of operation
If wireless communication systems are used for tracking, then robot-to-robot communication is enabled, but interference and multi-path issues occur in active environments
Solution Approach 1:
The patent replaces wireless communication-based tracking with optical vision-based tracking. Instead of relying on radio frequency signals that suffer from interference and multi-path effects, the system uses light reflection captured by cameras, which is not susceptible to electromagnetic interference and provides more reliable tracking in active environments.
3Measurement precision
If differential global positioning systems are used for tracking, then outdoor localization is achieved, but building and structure blockage occurs
Solution Approach 1:
The patent uses convex mirrors as intermediaries to capture reflections of the environment and robots. This allows the system to determine robot positions and orientations by analyzing the geometric relationships in reflected images, enabling localization both indoors and outdoors without being blocked by buildings or structures, thus achieving universal environmental coverage.
4Measurement precision
If on-board localization systems are used for each robot, then relative localization and collision avoidance are enabled, but high cost per unit occurs for large swarms
Solution Approach 1:
The patent implements a centralized vision system where a single camera-mirror system can track multiple robots simultaneously. Instead of requiring expensive on-board localization hardware in each robot, the system uses external cameras with convex mirrors to capture images of multiple robots, enabling relative localization and collision avoidance for the entire swarm through a single cost-effective unit.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and cost-effective localization of robots in various environments, overcoming the limitations of existing methods by providing millimeter-accuracy and omnidirectional views, facilitating efficient robot swarm operations.
Implementation Method 1
a first camera (104) disposed behind the first convex mirror (102)... the first camera (104) may be configured to capture imagery reflected by the second convex mirror (106)
Data Source
AI summary
An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.