Stereo Camera Image Deformation Correction via Reference Lines
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Solution Overview
Problem
Image deformation due to temperature characteristics, vibration, and yaw rotation in stereo camera systems affects the accuracy of three-dimensional position measurement and object detection in driver assistance systems.
Innovation Solution
An image processing device with a reference line disposing circuit and parameter acquiring circuit that corrects image deformation by reducing parallax between stereo images using homography transformation, based on parameters acquired from reference lines disposed in the images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If stereo camera is used for three-dimensional position measurement, then measurement capability is improved, but image deformation occurs due to temperature characteristics, vibration, and yaw rotation
Solution Approach 1:
The system performs preliminary action by acquiring image correction parameters in advance through calibration using reference lines before actual measurement. The correction parameters are stored and applied during operation to compensate for temperature characteristics, vibration, and yaw rotation effects, preventing image deformation rather than correcting it after occurrence.
Solution Approach 2:
The system changes parameters by using homography transformation with correction parameters that adjust the imaging characteristics. These parameters modify the relationship between stereo images to compensate for environmental factors, allowing the system to maintain measurement accuracy despite temperature changes, vibration, and camera rotation.
2Measurement precision
If image correction processing is performed to reduce parallax, then measurement accuracy is improved, but processing complexity increases
Solution Approach 1:
The system uses copying by utilizing reference lines (such as lane markings) that are naturally present in the scene. Instead of requiring complex artificial markers or calibration objects, the system copies the geometric relationships from the reference lines to derive correction parameters, simplifying the overall system complexity while maintaining accuracy.
3Measurement precision
If reference lines are used for correction parameter acquisition, then correction accuracy is improved, but dependency on specific scene features increases
Solution Approach 1:
The system applies universality by using reference lines that serve multiple functions: they provide correction parameters for image deformation compensation, enable calibration of the stereo camera system, and can be used for various types of scenes (roads, corridors, any environment with linear features). This multi-functionality reduces dependency on specific scene features while maintaining broad adaptability.
Data Source
AI summary
According to one embodiment, an image processing device that processes a first image and a second image captured by a camera includes a first circuit, a second circuit and a third circuit. The first circuit determines a first position of a first reference line and a second position of a second reference line in at least one of the first image and the second image. The second circuit determines a image deformation reduction parameter based on a line width from a first reference point on the first reference line at the first position to a second reference point on the second reference line at the second position. The third circuit reduces image deformation in the first image or the second image based on the image deformation reduction parameter.