Stereo Camera Calibration Using Disparity Offsets in Motion
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Solution Overview
Problem
Stereo camera pairs in autonomous driving systems face challenges in on-the-fly calibration due to relative movement between cameras, which is computationally intensive and inefficient, especially for long-range applications.
Innovation Solution
A method that calculates the relative rotation between stereo camera pairs using disparity values between images, focusing on specific regions sensitive to long-range applications and distributing computation efficiently across frames, allowing for real-time calibration without processing the entire image.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional calibration methods are used to maintain accurate stereo camera calibration during relative movement, then measurement precision is improved, but productivity deteriorates due to computationally intensive processing
Solution Approach 1:
The patent divides the full image into multiple regions of interest (ROIs), each containing features sensitive to specific calibration parameters. Instead of processing the entire image, the system segments and processes only these critical regions, reducing computational load while maintaining calibration accuracy for the parameters most relevant to long-range detection.
Solution Approach 2:
The patent applies different processing strategies to different regions of the image based on their sensitivity characteristics. Regions containing features sensitive to baseline variations are processed with higher precision, while other regions use standard processing. This localized approach optimizes computational resources where they are most needed.
2Measurement precision
If comprehensive image processing is performed for calibration, then calibration accuracy is improved, but loss of time increases due to processing delays
Solution Approach 1:
The patent segments the image processing task into parallel region-based operations. Multiple regions are processed simultaneously rather than sequentially, significantly reducing total processing time while maintaining comprehensive calibration coverage across all critical features.
Solution Approach 2:
The patent performs processing on selected regions of interest rather than the entire image. This partial action approach provides sufficient calibration accuracy for the application's needs while dramatically reducing the time required compared to full-image processing.
3Reliability
If the entire image is processed for calibration, then calibration completeness is improved, but device complexity increases due to higher computational requirements
Solution Approach 1:
The patent identifies and segments only the critical regions containing calibration-sensitive features, eliminating the need to process redundant areas. This segmentation maintains calibration completeness for all necessary parameters while reducing the overall computational complexity of the system.
Solution Approach 2:
The patent extracts and processes only the essential calibration features from the image, separating them from unnecessary visual data. This extraction approach ensures all critical calibration information is captured while minimizing the computational resources required.
Data Source
AI summary
In some embodiments, a method includes receiving a first image and a second image from a stereo camera pair. The method includes selecting a first row of pixels from the rectified image and a set of rows of pixels from the second image and comparing the first row of pixels with each row of pixels from the set of rows of pixels to determine disparity values. The method includes determining a pair of rows of pixels having the first row of pixels and a second row of pixels from the set of rows of pixels. The pair of rows of pixels has an offset no greater than an offset between the first row of pixels and each row of pixels from remaining rows of pixels. The method includes adjusting, based on the offset, the relative rotational position between the first stereo camera and the second stereo camera.