Position-Indexed Intrinsic Calibration for IBIS Cameras

Solution Overview

Problem

Intrinsic calibration values of cameras with in-body image stabilization systems become invalid due to camera motion, affecting the performance of autonomous vehicles by introducing frame-to-frame jitters, motion blurs, and alignment errors, which compromises the ability to perceive the vehicle's environment accurately.

Innovation Solution

An intrinsic calibration maintenance process for movable camera sensors within IBIS systems, combined with a CMOS image sensor with a global shutter feature, maintains calibration by compensating for unwanted motion and improves image capture, especially in moving vehicles.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the camera sensor is made movable to enable in-body image stabilization, then the ability to compensate for unwanted motion is improved, but the intrinsic calibration values become invalid due to camera motion

Engineering Contradiction:

Improvemotion compensation capabilityVSAvoidintrinsic calibration accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The system pre-calibrates the camera sensor at multiple known positions and orientations before actual operation. These pre-computed calibration values are stored and selected based on the current sensor position, allowing the system to maintain calibration accuracy without restricting sensor movement during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The calibration system transitions from a static single-position calibration to a dynamic multi-position calibration approach. The camera sensor is calibrated at multiple predetermined positions and orientations, and the appropriate calibration values are dynamically selected based on the sensor's current position during operation.

Inventive Principle:

Principle #15Dynamics

2Manufacturing precision

If the camera sensor moves to stabilize images, then motion blur is reduced, but frame-to-frame jitters and alignment errors are introduced

Engineering Contradiction:

Improveimage clarityVSAvoidframe alignment consistency

Core Design Contradiction:

Manufacturing precisionVSStability of the object's composition

Solution Approach 1:

The system pre-calibrates the camera sensor at multiple known positions and orientations before actual operation. These pre-computed calibration values are stored and selected based on the current sensor position, allowing the system to maintain calibration accuracy without restricting sensor movement during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system determines the current position of the camera sensor and uses this feedback to select the appropriate pre-computed calibration values from multiple available sets. This closed-loop approach ensures that the correct calibration parameters are applied for each sensor position, maintaining alignment consistency.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If intrinsic calibration is maintained for a stationary camera, then calibration accuracy is preserved, but the system cannot compensate for motion in moving vehicles

Engineering Contradiction:

Improvecalibration accuracyVSAvoidmotion environment adaptability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The calibration system transitions from a static single-position calibration to a dynamic multi-position calibration approach. The camera sensor is calibrated at multiple predetermined positions and orientations, and the appropriate calibration values are dynamically selected based on the sensor's current position during operation.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system creates a universal calibration solution that works across multiple positions and orientations. By pre-calibrating at various positions and providing a mechanism to select the appropriate calibration set based on current sensor position, the system achieves both calibration accuracy and motion adaptability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12423866B2Maintaining intrinsic calibration of cameras with in-body image stabilization systems

Publication Date: 2025.09.23 MOTIONAL AD LLC

AI summary

Provided are methods for maintaining intrinsic calibration of IBIS cameras, which can include obtaining a first camera sensor position at which a movable sensor of a camera is positioned when the camera captures a first image, selecting, from at least one database including a plurality of intrinsic calibration data sets indexed by a respective plurality of second camera sensor positions, one of the plurality of second camera sensor positions based on the first camera sensor position of the movable sensor, retrieving, from the at least one database and for the camera, a first intrinsic calibration data set, of the plurality of intrinsic calibration data sets, that is indexed by the selected one of the plurality of second camera sensor positions, and rectifying, by the at least one processor, the first image using the first intrinsic calibration data set of the camera retrieved from the at least one database.