Pole Foot Identification in Vehicle Vision Under Road Reflections
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Solution Overview
Problem
Conventional pole detecting devices falsely detect the distance from a vehicle to a pole when the pole's reflection on the road surface is included in the camera image, leading to incorrect proximity assessments.
Innovation Solution
An image recognizing device that acquires time-series camera image information, extracts vertical edges, identifies column candidates, evaluates pole candidates based on specific conditions, and calculates the detected distance difference to accurately determine the pole's foot position and prevent false distance detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the pole position is detected through image processing based on camera image, then the pole detection function is achieved, but false detection occurs when pole reflection on road surface is included in the image
Solution Approach 1:
The patent applies dynamics by utilizing the temporal dimension through time-series image acquisition. Instead of relying on a single static image, the system captures multiple images at different time points and analyzes the temporal changes in pole position and reflection characteristics. This dynamic approach enables the system to distinguish between actual poles and their reflections by tracking their different movement patterns relative to the vehicle, thereby resolving the false detection problem while maintaining detection accuracy.
Solution Approach 2:
The patent implements feedback by using the detected pole position and distance information to continuously adjust and refine the detection algorithm. The system compares the detected pole position with the expected position based on vehicle movement, and when discrepancies are found (indicating possible reflection), it adjusts the detection parameters accordingly. This feedback mechanism ensures that the system can adapt to different scenarios and maintain high measurement precision even when reflections are present.
2Quantity of substance
If the camera image includes both actual pole and its reflection on road surface, then the pole image appears extended, but the detected distance becomes nearer than the actual distance
Solution Approach 1:
The patent applies segmentation by dividing the detected vertical edge into multiple segments and analyzing each segment's characteristics independently. The system identifies the actual pole segment versus the reflection segment by examining their different spatial and temporal properties. The actual pole segment shows consistent movement with vehicle motion, while the reflection segment shows different movement characteristics. This segmentation allows the system to select only the valid pole segment for distance calculation, eliminating the error caused by including reflection information.
Solution Approach 2:
The patent introduces the time dimension as an additional analysis dimension beyond the spatial dimension. By capturing time-series images and analyzing the temporal evolution of pole and reflection positions, the system can distinguish between them. The actual pole maintains a stable spatial relationship with the vehicle over time, while the reflection's position changes differently due to the road surface geometry. This dimensional extension provides the necessary information to accurately separate pole from reflection and achieve precise distance measurement.
Data Source
AI summary
An image recognizing device includes an image storing portion, a cylindrical distortion correcting portion, a vertical edge extracting portion; a column candidate extracting portion, a pole candidate evaluating portion, a pole foot position setting portion, a movement distance acquiring portion, a detected distance difference calculating portion, and a pole identifying portion. When the vehicle is moving toward a pole candidate, the movement distance acquiring portion acquires a movement distance moved by the vehicle during a prescribed time interval, and the detected distance difference calculating portion calculates a detected distance difference between a starting detected distance and an ending detected distance for the prescribed time interval. The pole identifying portion identifies that a pole candidate wherein the absolute value of the difference between the movement distance and the detected distance difference is less than a threshold value as being a pole that has a pole foot position that contacts the ground.