Optical Beacon Intensity Modulation for Pose Estimation
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Solution Overview
Problem
Existing pose estimation methods for spatially movable platforms are sensitive to occlusion and changing light conditions, and can interfere with the optical sampling rate, leading to faulty identification and reliability issues.
Innovation Solution
The method involves using beacons with optical transmitters that modulate an intensity-based blinking pattern, allowing for continuous identification of image objects and reliable matching, even in occluded conditions, by utilizing non-zero intensity states and error correction codes, enabling robust pose estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If active optical markers transmit blinking patterns using intermittent optical radiation signals, then beacon identification can be achieved, but the transmission may interfere with the optical sampling rate causing faulty identification
Solution Approach 1:
The patent changes the intensity parameter of the optical radiation signal by using non-zero intensity states (high and low intensity) instead of traditional on/off blinking. This allows the beacon to transmit identification patterns while maintaining continuous optical presence, avoiding interference with the optical sensor's sampling rate and preventing faulty identification.
2Device complexity
If passive markers are used for pose estimation, then the system is simple and low-cost, but the system becomes sensitive to changing ambient light conditions
Solution Approach 1:
The patent applies local quality by making the beacon itself active with controlled optical emission, while keeping the rest of the system passive. The beacon locally generates its own identification signal through intensity modulation, making it independent of ambient light conditions without requiring the entire system to become complex.
3Measurement precision
If markers are used for pose estimation, then three-dimensional position and orientation can be determined, but the matching problem becomes sensitive to occlusion and optical distortion
Solution Approach 1:
The patent implements feedback through the use of error correction codes in the blinking pattern transmission. The received optical signal is processed and compared with expected patterns, allowing the system to detect and correct errors caused by occlusion or distortion, thereby maintaining pose estimation accuracy under challenging conditions.
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
This approach provides a robust and reliable pose estimation system that is less sensitive to occlusion and changing light conditions, ensuring accurate identification and tracking of beacons, thereby improving the reliability of pose estimation for spatially movable platforms.
Implementation Method 1
transmitting a mutually different blinking pattern relating to said at least one beacon by modulating an intensity of said optical radiation signal
Implementation Method 2
capturing a sequence of two-dimensional images of said optical radiation signal from said at least one beacon by said image capturing device
Data Source
AI summary
Method of estimating a pose of a spatially movable platform, comprising providing at least one beacon, each beacon transmitting a mutually different blinking pattern relating to said beacon by modulating an intensity of an optical radiation signal, providing a pose estimation system comprising an image capturing device mounted on a spatially movable platform and image processing means communicatively connected to said image capturing device, capturing and processing a sequence of two-dimensional images comprising identifying at least one image object, determining an intensity variation of said at least one image object, detecting said blinking pattern relating to one of said at least one beacon, and matching said image object to a corresponding beacon using said detected blinking pattern, estimating a pose of said spatially movable platform relative to said at least one beacon using said at least one matched image object, wherein said modulating said intensity of said optical radiation signal of said beacon is performed using at least two different non-zero radiation states, and wherein said intensity variation of said at least one image object in said sequence of two dimensional images is between at least two different non-zero intensity states.