Sensor Position Estimation Using Surface and Marker Signals
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems face challenges in accurately determining the position and orientation of a sensor relative to an object, especially when the object is small or the distance between the sensor and the object is significant, leading to inaccuracies in vehicle navigation and control, particularly for unmanned aerial vehicles (UAVs).
Innovation Solution
A system comprising a first sensor to generate surface signals and a second sensor to generate marker signals, with a sensor processor estimating the position and orientation of the sensors relative to the surface and the marker, allowing for improved accuracy in determining the vehicle's position and orientation relative to the marker by using a stereo camera system and virtual surface and marker representations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single sensor is used to determine position and orientation relative to a marker, then the system is simple, but the accuracy deteriorates when the object is small or distance is substantial
Solution Approach 1:
The system divides the sensing task into two separate sensors: a first sensor for detecting surface features and a second sensor for detecting marker features. This segmentation allows each sensor to be optimized for its specific detection target, improving overall measurement precision while maintaining reasonable system complexity through specialized function division.
Solution Approach 2:
The system merges the outputs of two separate sensors (surface sensor and marker sensor) through a sensor processor that combines surface sensor signals and marker sensor signals. This merging allows the system to leverage both surface geometric information and marker feature information simultaneously, achieving high accuracy in position and orientation determination.
2Length of stationary object
If the sensor is positioned at a shallow attitude relative to the marker, then the vehicle can operate from greater distances, but the measurement precision deteriorates
Solution Approach 1:
The system transitions from relying solely on marker feature detection to a two-dimensional approach that combines surface geometric detection with marker feature detection. By utilizing the surface plane as an additional dimensional reference, the system can accurately determine position and orientation even when the sensor is at a shallow attitude and greater distance from the marker.
Solution Approach 2:
The surface on which the marker is disposed serves as an intermediary reference plane. The first sensor detects features of this surface, providing geometric constraints that help resolve the sensor's position and orientation relative to the marker. This intermediary surface information compensates for the reduced precision that would otherwise result from shallow sensor attitudes.
3Measurement precision
If only marker sensor signals are used for calculation, then the system is simple, but the accuracy deteriorates when the object is small or distance is substantial
Solution Approach 1:
The sensor processor performs preliminary estimation of the sensor's position and orientation relative to the surface using surface sensor signals before using this information to calculate the final position and orientation relative to the marker. This preliminary action with surface geometric constraints improves the accuracy of subsequent marker-based calculations, especially when the marker is small or at substantial distance.
Data Source
AI summary
A system may include first and second sensors configured to be coupled to a vehicle and generate surface sensor signals representative of a surface on which a location marker is disposed, and generate marker sensor signals representative of the location marker. The system may also include a sensor processor configured to estimate at least one of a position or an orientation of the first sensor relative to the surface on which the location marker is disposed based at least in part on the surface sensor signals, and estimate at least one of a position or an orientation of the second sensor relative to the location marker based at least in part on the marker sensor signals. The sensor processor may be configured to calculate at least one of the position or the orientation of the vehicle relative to the location marker based at least in part on the estimations.