Stereo Camera Calibration for Non-Rigid Long-Baseline Depth Mapping
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Solution Overview
Problem
Conventional stereo camera systems face calibration issues due to relative movement of camera modules, especially in long-baseline and non-rigid structures, leading to inaccurate depth maps and unreliable stereo vision data, which existing methods fail to address effectively.
Innovation Solution
A stereo vision system that compensates for both fast and slow perturbations using active tracking and compensation, eliminating the need for rigid mounting, and performs automatic system calibration based on minimizing a cost function, utilizing reflected energy from sources like headlights, streetlights, or solar light to maintain accurate depth maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed rigid structure is used to hold cameras and lenses, then alignment stability is maintained, but the system cannot adapt to different product geometries or manufacturing variations
Solution Approach 1:
The patent applies the dynamics principle by making the camera and lens positions adjustable rather than fixed. The camera assembly can be moved along the optical axis and laterally, while the lens can be rotated and positioned at different angles. This dynamic configuration allows the system to adapt to various product geometries and manufacturing tolerances while maintaining proper optical alignment through real-time adjustment mechanisms.
Solution Approach 2:
The patent implements parameter changes by allowing variation in camera-lens distance, lens angle, and camera position. These parameters can be modified to accommodate different measurement scenarios, product shapes, and quality requirements. The system changes operational parameters dynamically rather than being constrained to fixed geometric relationships.
2Measurement precision
If camera and lens alignment is manually adjusted for each measurement, then measurement accuracy is improved, but measurement time increases significantly
Solution Approach 1:
The patent applies preliminary action by pre-configuring the camera and lens into an optimized initial alignment position before measurement begins. The system includes pre-adjusted mechanical mounts and positioning mechanisms that establish accurate alignment beforehand, eliminating the need for time-consuming manual adjustments during actual measurement operations.
Solution Approach 2:
The patent implements feedback through automated alignment detection systems that monitor camera-lens positioning and provide real-time correction signals. Sensors detect misalignment and automatically adjust the optical components to maintain optimal measurement conditions, ensuring high accuracy without manual intervention and reducing measurement time.
3Volume of moving object
If the camera is positioned close to the lens for compactness, then device size is reduced, but optical interference and alignment difficulty increase
Solution Approach 1:
The patent applies the nesting principle by placing the camera within or adjacent to the lens housing structure. The camera assembly is integrated into the existing optical component layout, with the camera body positioned to utilize the space around the lens barrel. This nested arrangement achieves compact device volume while maintaining adequate optical separation through careful spatial planning.
Solution Approach 2:
The patent introduces intermediary elements such as optical windows, transparent barriers, or precision positioning mechanisms between the camera and lens. These intermediaries enable close positioning for compactness while preventing direct optical interference and providing a reference framework for accurate alignment. The intermediary structures facilitate precise relative positioning without requiring large separation distances.
Data Source
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AI summary
A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.