Stereo Camera Calibration Using LiDAR for Vehicle Distance Accuracy
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Solution Overview
Problem
Vehicle traveling control systems using stereo camera devices face challenges with image distortion due to mechanical and optical factors, leading to inaccurate distance measurements and potential malfunctions in automatic driving controls.
Innovation Solution
A vehicle traveling control apparatus is developed, incorporating a stereo camera device and a LiDAR device as a duplexed system, where the LiDAR device provides accurate distance information, and a control unit performs calibration of the stereo camera device to correct for image formation position shifts, ensuring reliable and accurate distance measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a stereo camera device is used for surrounding environment recognition, then the device complexity is reduced compared to other sensors, but image formation position shifts occur due to mechanical and optical factors causing inaccurate distance measurements
Solution Approach 1:
The patent introduces an intermediary calibration process that uses reference objects with known positions and dimensions to detect and correct image formation position shifts. The calibration unit acts as a mediator between the stereo camera device and the surrounding environment recognition system, compensating for mechanical and optical distortions without requiring changes to the camera hardware.
Solution Approach 2:
The system implements a feedback mechanism where the calibration unit continuously monitors image formation position shifts using reference objects and automatically adjusts calibration parameters to correct distance measurement errors. This closed-loop feedback ensures that the stereo camera device maintains accurate measurements despite mechanical factors or aging.
2Measurement precision
If calibration processes are performed to correct image formation position shifts, then distance measurement accuracy is improved, but processing time and computational load increase
Solution Approach 1:
The patent performs calibration operations in advance using reference objects positioned in the surrounding environment before actual surrounding environment recognition begins. By pre-calibrating the stereo camera device and storing correction parameters, the system avoids time-consuming calibration during critical recognition phases, thus reducing processing time loss.
3Productivity
If the stereo camera device operates continuously for surrounding environment recognition, then real-time detection capability is maintained, but image formation position shifts accumulate due to mechanical factors and aging
Solution Approach 1:
The system maintains continuous calibration operations by periodically detecting reference objects in the surrounding environment during normal operation. This continuous calibration approach ensures that image formation position shifts are corrected in real-time, maintaining measurement reliability without interrupting the stereo camera device's continuous operation for surrounding environment recognition.
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 system enhances the accuracy and reliability of distance measurements, reducing the load on processing circuits and improving the safety and reliability of advanced automatic driving controls by correcting for image distortions and maintaining high-speed distance measurement capabilities.
Implementation Method 1
a light detection and ranging device configured to acquire three-dimensional point cloud data including distance information for each of detection points, by scanning substantially a same range as a range recognized by the stereo camera device, of the front region of the vehicle
Data Source
AI summary
A vehicle traveling control apparatus includes a stereo camera device, a LiDAR device, and a control unit. The stereo camera device recognizes a predetermined range of a front region of the vehicle as an image to acquire image data, and acquires three-dimensional image information including distance information on the basis of the acquired image data. The LiDAR device acquires three-dimensional point cloud data including distance information for each of detection points, by scanning substantially a same range as a range recognized by the stereo camera device, of the front region of the vehicle. The control unit controls the stereo camera device and the LiDAR device. The control unit includes a camera calibration unit that performs calibration of the stereo camera device, by correcting a position shift of the three-dimensional image information acquired by the stereo camera device, with respect to the three-dimensional point cloud data acquired by the LiDAR device.