Pose-Based Scene Illumination for Robust Landmark Detection
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Solution Overview
Problem
Indoor navigation systems face challenges in accurately determining the location of objects due to varying lighting conditions and signal attenuation, which affects the reliability of optical localization systems, especially in large spaces where multiple cameras are required for triangulation, making them economically unviable.
Innovation Solution
A method for controlling a light source that uses pose estimates, a landmark map, and an illumination model to optimize emission illumination power and time course, ensuring sufficient reflection illumination power for feature detection, minimizing energy consumption, and reducing error propagation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical localization systems use multiple cameras for triangulation in large indoor spaces, then localization accuracy is improved, but system cost and complexity increase making it economically unviable
Solution Approach 1:
The patent extracts the illumination function from the camera system by introducing a separate light source that can be independently controlled. This allows the camera to operate in a simplified mode while the light source provides active illumination to enhance feature detectability, resolving the contradiction between accuracy and complexity
Solution Approach 2:
The system performs preliminary illumination of the scene before image capture by optimizing the light emission timing and intensity based on predicted camera poses and landmark positions. This preliminary action ensures that features are properly illuminated before the camera captures them, maintaining accuracy without requiring complex multi-camera setups
2Measurement precision
If optical systems increase image sensor sensitivity and exposure time to capture features in low light, then feature detection capability is improved, but error accumulation and reliability deteriorate due to motion blur and tracking failures
Solution Approach 1:
The patent implements periodic illumination where the light source emits light in controlled pulses synchronized with the camera exposure timing. This periodic action provides sufficient light for feature detection during the exposure window without requiring increased sensor sensitivity or extended exposure times, thereby maintaining tracking reliability
Solution Approach 2:
The system uses feedback from pose estimates and landmark positions to dynamically adjust the illumination parameters (timing, intensity, duration). This feedback mechanism ensures optimal illumination is provided exactly when and where needed, improving feature detection without compromising tracking reliability through motion blur
3Reliability
If the light source emits continuous light to illuminate the scene, then feature detection robustness is improved, but energy consumption increases
Solution Approach 1:
The light source operates in periodic pulses rather than continuous emission, turning on only during periods when the camera is expected to capture images of illuminated landmarks. This periodic operation maintains feature detection robustness by ensuring illumination is present when needed while dramatically reducing overall energy consumption
Solution Approach 2:
The illumination system is made dynamic by continuously adjusting the emission timing, duration, and intensity based on real-time pose estimates, landmark positions, and predicted camera trajectories. This dynamic adaptation ensures robust feature detection only when and where required, optimizing energy consumption rather than using continuous illumination
4Length of stationary object
If the system increases illumination power to compensate for signal attenuation in large spaces, then detection range is improved, but energy consumption and heat generation increase
Solution Approach 1:
The patent applies local quality by directing illumination specifically toward predicted landmark positions and visible areas based on current and future pose estimates. Rather than uniformly illuminating the entire large space, the system concentrates light where it is most needed for feature detection, extending effective detection range while minimizing overall energy consumption
Solution Approach 2:
The system performs preliminary calculation of required illumination parameters based on predicted camera poses and landmark positions before emission occurs. This allows the light source to emit at optimal power levels only for the specific duration and direction needed to cover the detection range, avoiding excessive energy consumption and heat generation
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
Enhances the robustness and accuracy of indoor navigation by stabilizing feature detection in varying lighting conditions, reducing energy consumption, and improving the scalability of optical localization systems.
Implementation Method 1
the light source is operated to emit light which illuminates the scene of interest
Implementation Method 2
said reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera
Data Source
AI summary
The invention relates to a for controlling a light source, the method using (a) at least one pose estimate of a camera configured to capture one or more images of a scene of interest which comprises at least one landmark, as said light source is operated to emit light which illuminates said scene of interest, (b) a landmark map comprising at least 3D location information of a plurality of landmarks comprising the at least one landmark in the scene of interest, (c) an illumination model describing a relationship between an emission illumination power and a reflection illumination power, wherein said emission illumination power is the power of light emitted by the light source to illuminate said scene of interest, and said reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera, wherein the method comprises the following steps:(1) determining, for at least one of the plurality of landmarks, at least one emission illumination power of light to be emitted by the light source, and an illumination time during which the light source should be operated to emit light which has an emission illumination power which is equal to the at least one emission illumination power, using (i) the at least one pose estimate of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model; and (2) operating the light source to emit light which has an emission illumination power which is equal to the at least one emission illumination power, for a time period which is equal to the determined illumination time course; and (3) updating the illumination model parameters, wherein the illumination model parameters which are updated comprise reflectivity parameters of at least one landmark.