Stereo Camera Ground-Contact Determination Using Parallax Thresholds
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Solution Overview
Problem
Existing collision avoidance systems face challenges in accurately distinguishing between ground-contacting objects and floating objects due to occlusion regions caused by camera limitations and vehicle hood obstruction, leading to false determinations and unnecessary driving support controls.
Innovation Solution
A three-dimensional object ground-contact determining apparatus that uses a stereo camera to calculate parallax information, temporarily and finally determines whether an object is ground-contacting or floating based on lower end height thresholds, and incorporates a reset mechanism for persistent temporary determinations to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a stereo camera is used to detect three-dimensional objects and determine ground-contact status based on lower end height, then object detection capability is improved, but false determination of floating objects occurs due to occlusion regions
Solution Approach 1:
The system performs preliminary determination of ground-contact status based on lower end height calculation from stereo camera images. This preliminary result is stored and used as reference for final determination, allowing the system to account for occlusion regions by comparing current measurements with previously established object characteristics.
Solution Approach 2:
The system implements a feedback mechanism where the preliminary determination result is fed back into the final determination process. The determination unit uses both the current lower end height measurement and the stored preliminary determination to make the final ground-contact status decision, reducing false positives from occlusion regions.
2Reliability
If collision avoidance control is performed for all detected three-dimensional objects, then safety is improved, but unnecessary control activation occurs for floating objects
Solution Approach 1:
The system applies different processing logic based on the determined ground-contact status of each object. Ground-contacting objects trigger collision avoidance control, while floating objects do not, creating localized quality differences in control activation based on object classification.
Solution Approach 2:
The system replaces direct mechanical collision avoidance control with an intelligent determination system that uses stereo camera imaging, parallax calculation, and logic units to classify objects before triggering control actions, substituting mechanical response with informed decision-making.
3Device complexity
If the lower end height threshold method is used to distinguish ground-contacting objects from floating objects, then classification simplicity is improved, but determination accuracy deteriorates in occlusion regions
Solution Approach 1:
The system performs preliminary determination using the simple lower end height threshold method, but stores this result for later reference. This allows the system to maintain classification simplicity while using the preliminary result to correct accuracy issues in occlusion regions during final determination.
Solution Approach 2:
The preliminary determination result acts as an intermediary between the simple threshold classification and the final accurate determination. It bridges the gap by providing a reference point that helps resolve ambiguities caused by occlusion regions without adding complex real-time processing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus significantly reduces false determinations of floating objects as ground-contacting, enhancing the accuracy of object classification and minimizing unnecessary collision avoidance controls.
Implementation Method 1
imaging means (11, step 1002) for taking an image of a region in front of the vehicle by means of a stereo camera
Implementation Method 2
parallax information calculating means (step 1006) for calculating, based on a taken image taken by the imaging means (11), parallax information including a parallax of each of pixels composing the taken image
Data Source
AI summary
An apparatus comprises three-dimensional object detecting means for detecting a three-dimensional object in a taken image, temporarily determining means for calculating, based on parallax information, a lower end height from a road surface to a lower end of the object, for temporarily determining that the object is a ground-contacting object when the lower end height is less than or equal to a threshold, and for temporarily determining that the object is a floating object when the lower end height exceeds the threshold, and finally determining means for finally determining whether the object is a ground-contacting object or a floating object. The finally determining means finally determines that the object is a ground-contacting object at the current computation timing when the object is determined to be a ground-contacting object in at least one of the temporary determination at the current computation timing and the final determination at the previous computation timing.