Range Finder Attitude Estimation Using Linked Image Features
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing technologies face challenges in accurately deducing the attitude of a range finder, particularly in environments where the point-set data generated by the range finder lacks features, such as when moving on a snowfield with no uneven surfaces.
Innovation Solution
The proposed solution involves an information processing apparatus that acquires data from both an imaging device and a range finder. By calculating the change in attitude of the imaging device based on the positions of a subject in two images generated at different attitudes, the apparatus can infer the change in attitude of the linked range finder, enabling accurate attitude deduction even in feature-poor environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the range finder is used to generate environment maps, then the environment map can be created, but the attitude deduction becomes inaccurate in feature-poor environments such as snowfields
Solution Approach 1:
The patent introduces an imaging device as an intermediary to obtain visual features from the environment. When the range finder's point-set data lacks sufficient features (e.g., on snowfields), the imaging device captures images that provide alternative visual features. These features are then used to calculate the attitude change of the imaging device, which is transferred to the range finder through the attitude link, enabling accurate attitude deduction even in feature-poor environments for the range finder.
2Reliability
If only range finder data is used for attitude calculation, then the system remains simple, but the attitude deduction fails in environments without sufficient point-set features
Solution Approach 1:
The patent makes the attitude deduction system universal by enabling it to function in diverse environments. The imaging device is integrated to provide an alternative source of environmental features that can be used when range finder point-set data is insufficient. The system automatically switches between using range finder features and imaging device features based on environmental conditions, making the attitude deduction reliable across various terrains including snowfields, deserts, and other feature-poor environments.
3Reliability
If the imaging device is added to supplement feature-poor environments, then attitude deduction accuracy improves, but the device complexity increases
Solution Approach 1:
The patent merges the range finder and imaging device into an integrated system with a shared attitude link. Both devices are mounted on the same moving object with their attitudes linked, allowing the system to combine data from both sensors. The controller integrates information from both the range finder's point-set data and the imaging device's images to calculate attitude changes, reducing the need for separate independent systems and optimizing the use of available components.
4Measurement precision
If the attitude of the range finder is directly measured, then the measurement would be accurate, but the range finder cannot provide sufficient features in feature-poor environments
Solution Approach 1:
The patent uses the imaging device as an intermediary to obtain environmental feature information that the range finder cannot capture. The imaging device captures visual features from the environment (such as textures, patterns, and structures visible in images) that are then used to calculate attitude changes. This intermediary approach compensates for the range finder's inability to provide sufficient features in feature-poor environments while maintaining accurate attitude measurement through the attitude link between the two devices.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
An information processing apparatus includes a controller configured to acquire data representing a first image and data representing a second image. The first image and the second image are generated by an imaging device in respective attitudes that differ from each other. The controller is configured to acquire an amount of change in an attitude of a range finder based on an amount of change in the attitude of the imaging device. The attitude of the range finder is linked to the attitude of the imaging device. The amount of change in the attitude of the imaging device is calculated based on positions of a same subject in the first image and in the second image.