Partial Calibration Target Detection for Vehicle Sensors
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Solution Overview
Problem
Existing vehicle sensor calibration methods discard partial calibration targets, leading to inefficiencies and inaccuracies, especially at the edges of sensor fields of view, due to the requirement for full target alignment, which can be impractical and time-consuming, especially in varied vehicle configurations and environments.
Innovation Solution
Implementing partial calibration target detection to identify and utilize partial calibration targets for estimating image sensors' intrinsic and extrinsic parameters, allowing for more robust calibration across multiple vehicle models and environments without the need for custom fitting, thus enabling faster and more accurate calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If full calibration target alignment is required, then measurement precision is improved, but productivity deteriorates due to time-consuming setup and impractical alignment requirements
Solution Approach 1:
The patent applies partial action by utilizing only the visible portion of calibration targets within the sensor's field of view, rather than requiring complete target alignment. The system detects and processes partial calibration targets (e.g., partial chessboard patterns) to estimate intrinsic and extrinsic parameters, thereby achieving calibration without full target visibility and significantly improving calibration efficiency while maintaining acceptable accuracy
Solution Approach 2:
The patent changes the detection parameters by adapting target detection algorithms to recognize partial calibration targets with varying degrees of visibility and completeness. The system adjusts detection thresholds and parameter estimation methods to work with incomplete target data, enabling calibration across diverse vehicle configurations and sensor positions without strict alignment requirements
2Measurement precision
If full calibration target alignment is required, then measurement precision is improved, but ease of operation deteriorates due to impractical alignment in varied vehicle configurations
Solution Approach 1:
The system accepts partial calibration targets within the field of view and processes them for parameter estimation, eliminating the need for precise full-target alignment. This approach makes calibration operations much simpler across different vehicle models and sensor mounting configurations, as operators no longer need to manually adjust targets for perfect visibility
Solution Approach 2:
The patent creates a universal calibration approach that works across multiple vehicle models, sensor types, and mounting configurations. By detecting partial calibration targets, the system provides a single calibration methodology that adapts to various operational conditions, eliminating the need for configuration-specific alignment procedures
3Productivity
If partial calibration targets are utilized, then productivity is improved through faster calibration, but measurement precision may deteriorate due to incomplete target data
Solution Approach 1:
The patent employs parameter estimation techniques that adapt to partial target data by adjusting detection thresholds, using robust statistical methods, and modifying camera calibration algorithms to work with incomplete observations. These parameter changes enable accurate intrinsic and extrinsic parameter estimation even when only portions of calibration targets are visible
Solution Approach 2:
The system uses intermediate computational steps including preprocessing of partial target images, feature detection on incomplete patterns, and iterative parameter estimation that bridges the gap between partial observations and complete calibration results. These intermediary processes maintain measurement precision despite using partial target data
4Ease of operation
If partial calibration targets are utilized, then ease of operation is improved by allowing calibration in more positions and orientations, but device complexity increases due to advanced detection algorithms
Solution Approach 1:
The patent implements a universal detection framework that handles various target configurations, orientations, and visibility conditions through a single algorithmic approach. This multi-functional system detects partial calibration targets across different vehicle models and sensor positions, providing calibration flexibility without requiring multiple specialized detection routines for different scenarios
Data Source
AI summary
Systems and methods provide for adaptive real-time streaming of Autonomous Vehicle (AV) data. In some embodiments, the AV can receive a request from the remote computing system for real-time streaming of a first type of AV data and adaptively streaming a second type of AV data when one or more streaming conditions are satisfied. The first type of AV data and the second type of AV data can be captured as raw data by sensors, actuators, transducers, and other components of the AV. The AV can stream the first type of AV data to the remote computing system in real-time for a first time period. When the AV determines the streaming conditions are satisfied, the AV can automatically determine the second type of AV data to stream to the remote computing system in real-time for a second time period.