Movable Platform Pose Estimation via Sensor Nesting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing movable platforms with rigidly connected cameras face challenges in multi-directional observation and obstacle avoidance due to the need for a large, cumbersome structure and strict pose maintenance, which complicates assembly and maintenance.
Innovation Solution
A pose estimation method for movable platforms using a first and second sensor with overlapping observation ranges, allowing for real-time determination of the relative pose relationship between the sensors based on pixel positions in observation images, enabling accurate depth information determination and flexible, non-rigid mounting configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If cameras are installed at positions far away from the movable platform body to achieve sufficient distance between cameras, then the observation distance and depth information accuracy are improved, but the platform size increases and portability deteriorates
Solution Approach 1:
The camera is nested within the observation range of another camera, allowing the mounting bracket to be visualized and tracked. This enables accurate pose estimation without requiring the camera to be mounted far from the platform body, thus maintaining compact platform size while achieving sufficient measurement precision through software-based pose compensation
Solution Approach 2:
The patent replaces the need for mechanical rigid connection and precise physical mounting with a software-based pose estimation system. By using image processing to determine the relative pose between cameras, the system eliminates the requirement for complex mechanical mounting structures, allowing flexible mounting positions close to the platform body while maintaining measurement accuracy
2Stability of the object's composition
If a rigid bracket is used to fixedly connect the camera to the movable platform body, then the relative pose stability is improved, but the assembly and maintenance difficulty increases
Solution Approach 1:
The patent transitions from a static rigid connection model to a dynamic pose estimation model. The system continuously estimates the relative pose between cameras through image processing, allowing the mounting structure to be flexible or easily adjustable while maintaining pose stability through real-time software compensation rather than rigid mechanical constraints
Solution Approach 2:
The patent changes the approach from fixing physical parameters (rigid bracket geometry) to dynamically estimating and compensating pose parameters through image processing. This allows the physical mounting to be simpler and easier to assemble while maintaining measurement accuracy through software-based parameter adjustment
3Adaptability or versatility
If multiple cameras are installed for multi-directional observation, then the observation coverage is improved, but the device complexity increases
Solution Approach 1:
The patent makes each camera serve multiple functions: not only capturing external scenes but also observing other cameras and their mounting brackets. This self-observation capability allows the system to use existing camera hardware for pose estimation, eliminating the need for additional specialized sensors or complex calibration equipment, thus reducing overall system complexity while maintaining multi-directional observation capability
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
The method allows for accurate real-time determination of the relative pose between sensors, enabling precise depth information and facilitating the use of non-rigid mounts, which reduces the platform's size and improves portability while simplifying assembly and maintenance.
Implementation Method 1
two cameras are used to collect images together, and then a series of determinations are used to determine the distance of a specific point based on the parallax between the images obtained by the two cameras
Data Source
AI summary
A pose estimation method includes obtaining an observation image of a second sensor of a movable platform. The movable platform further includes a first sensor mounted at the movable platform through a mounting member. An observation range of the second sensor includes the mounting member. The method further includes determining an image area where the mounting member is located in the observation image, and determining a relative pose relationship between the first sensor and the second sensor based on a pixel position of the image area.