Pose-Guided Light Source Control for Reliable 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 limits the robustness and scalability of optical localization systems, especially in complex environments.
Innovation Solution
A method for controlling a light source using pose estimates, landmark maps, and illumination models to optimize emission illumination power and time course, ensuring sufficient reflection illumination power for reliable feature detection by the camera, while minimizing energy consumption and error propagation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the light source emits light continuously at high power to ensure sufficient reflection illumination power for feature detection, then the reliability of feature detection is improved, but the energy consumption increases
Solution Approach 1:
The light source operates in periodic pulses rather than continuously. The controller activates the light source only during specific time intervals when feature detection is required, with pulse widths and frequencies optimized to provide sufficient illumination for the camera to capture features while minimizing overall energy consumption.
Solution Approach 2:
The illumination system dynamically adapts its emission characteristics based on real-time conditions. The controller adjusts the light source power, pulse duration, and timing according to the robot's current pose, distance to landmarks, and camera exposure settings, ensuring optimal feature detection reliability while minimizing energy consumption for each specific situation.
2Measurement precision
If the light source power is increased to maintain consistent feature detection in varying lighting conditions, then the measurement precision is improved, but the energy consumption increases
Solution Approach 1:
The system uses feedback from the camera's detected features and the robot's current pose estimate to dynamically adjust the light source power. The controller monitors feature detection quality and landmark visibility, then adjusts illumination intensity in real-time to maintain measurement precision while avoiding excessive energy consumption when high power is not needed.
Solution Approach 2:
The illumination system changes multiple parameters including light source power, pulse duration, and emission timing based on environmental conditions. The controller adjusts these parameters dynamically according to ambient lighting levels, distance to landmarks, and camera settings, maintaining localization accuracy while optimizing energy consumption for each operational context.
3Reliability
If the light source is activated frequently to compensate for signal attenuation in complex environments, then the reliability of localization is improved, but the energy consumption increases
Solution Approach 1:
The system performs preliminary calculations using the illumination model and robot pose estimates to predict when and where illumination is needed. The controller pre-plans illumination events based on the robot's trajectory and landmark positions, activating the light source only when and where it will be effective for feature detection, avoiding unnecessary energy consumption in areas or times when illumination is not needed.
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 scalability of indoor navigation by maintaining consistent feature detection and reducing energy consumption, even in varying lighting conditions, thereby improving localization accuracy.
Implementation Method 1
the light source is operated to emit light which illuminates said 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 method for controlling a light source (7), the method using (a) at least one pose estimate (1) of a camera (8) configured to capture one or more images of a scene of interest (13) which comprises at least one landmark (9), as said light source is operated to emit light which illuminates said scene of interest, (b) a landmark map (2) 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 (3) describing a relationship between an emission illumination power and reflection illumination power, wherein said emission illumination power is the power of light emitted by the light source (7) 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, and (d) a predefined threshold reflection illumination power (4). The method comprises the following steps: (a) determining (5), for at least one of the plurality of landmarks, at least one optimized emission illumination power of light (6) to be emitted by the light source, and an illumination time course (6) 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 optimized emission illumination power, using (i) the at least one pose estimate (1) of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model (3), and (iv) the predefined threshold reflection illumination power (4); and (b) operating the light source (7) to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power (6), for a time period which is equal to the determined illumination time course (6).