Stereo Camera Parallax Estimation Beyond Overlapping Views
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Solution Overview
Problem
Existing stereo camera systems struggle to accurately calculate the distance of moving objects in non-overlapping areas, particularly when the road surface height differs between overlapping and monocular areas, leading to inaccurate collision risk assessment.
Innovation Solution
A stereo camera device that utilizes disparity information from overlapping areas to estimate road surface height in monocular areas, allowing for accurate distance calculation of moving objects using a combination of disparity information, road surface height data, and vehicle movement estimation, enabling precise risk determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If road surface height information from overlapping area is used directly for monocular area, then distance estimation in monocular area becomes possible, but accuracy deteriorates when road surface height differs between areas
Solution Approach 1:
The system performs preliminary action by detecting and storing road surface height information in advance when objects are in the overlapping area, then reusing this stored information when objects move to monocular areas, enabling continuous distance estimation without real-time measurement in both areas
Solution Approach 2:
The system introduces an intermediary mechanism by detecting vertical position information of contact points between objects and road surface, and using this intermediary data to correct distance calculations in monocular areas where direct measurement is not available
2Measurement precision
If stereo camera is used only in overlapping area, then accurate distance measurement is achieved, but coverage area is limited
Solution Approach 1:
The system applies universality by making the stereo camera system perform multiple functions: it provides accurate distance measurement in overlapping areas and extended monitoring coverage in monocular areas through height information extrapolation, making the same hardware serve both precision measurement and wide coverage needs
Solution Approach 2:
The system transitions from two-dimensional image overlap to three-dimensional space utilization by detecting vertical position information and using it to calculate distances in monocular areas, adding the height dimension to extend coverage beyond the overlapping field of view
3Adaptability or versatility
If optical flow process is used to detect pedestrians in monocular area, then pedestrian detection is enabled, but distance information is lost
Solution Approach 1:
The system implements feedback by using detected vertical position information of pedestrians as feedback to correct and refine distance calculations in monocular areas, creating a closed-loop system that continuously improves distance estimation accuracy based on observed positional data
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
Enables accurate distance calculation of moving objects in monocular areas even with varying road surface heights, enhancing collision risk assessment and warning/braking systems by expanding the effective angle of view beyond overlapping areas.
Implementation Method 1
A stereo camera that includes two cameras provided at a predetermined distance therebetween can measure a distance to a captured object by using a disparity of an overlapping area captured by the cameras
Data Source
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AI summary
The purpose of the present invention is to enable precise calculation of the distance to a moving object that is detected in a monocular area (212, 222) even in the case where the road height varies between an overlapping area (240) and the monocular area (212, 222) . According to the present invention, provided are: a parallax-information obtaining unit that obtains parallax information about an overlapping area (240) of a plurality of images captured by a plurality of cameras installed in a vehicle; and an object-distance calculating unit that calculates the distance between an object detected in a non-overlapping area and the vehicle, the non-overlapping area being an area other than the overlapping area in the images, on the basis of parallax information obtained from the overlapping area in the past.