Stereo Camera Pose Estimation Without Synchronizing Circuits
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Solution Overview
Problem
Pose estimation using stereo cameras with asynchronous imaging timings is challenging due to positional shifts, making accurate restoration of three-dimensional points and re-projection difficult, and existing solutions require costly synchronizing circuits.
Innovation Solution
A pose estimation apparatus employing a first imager and a second imager with an estimator that generates standard and reference images, allowing for simultaneous estimation of the relative pose of the first imager and positional shifts of the second imager, even when imaging timings are asynchronous, without the need for a synchronizing circuit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If stereo cameras with asynchronous imaging timings are used, then device complexity is reduced by eliminating synchronizing circuits, but measurement precision deteriorates due to positional shifts between images
Solution Approach 1:
The patent introduces a computational intermediary (the estimation algorithm) that mediates between the asynchronous images. Instead of trying to synchronize the cameras hardware-wise, the system uses feature point matching and re-projection error minimization to computationally align the images from different time points, effectively acting as a software-based intermediary that resolves the temporal mismatch.
Solution Approach 2:
The patent changes the temporal parameter relationship between the two cameras from synchronous to asynchronous operation. By accepting and compensating for the time difference through computational methods (minimizing re-projection error), the system transforms the hardware synchronization requirement into a software compensation problem, thereby eliminating the need for expensive synchronizing circuits.
2Measurement precision
If synchronous imaging is used, then measurement precision is maintained, but device complexity increases due to required synchronizing circuits
Solution Approach 1:
The patent replaces the hardware intermediary (synchronizing circuit) with a software intermediary (computational alignment algorithm). The feature point matching and re-projection error minimization process acts as a virtual synchronizer that achieves temporal alignment computationally, eliminating the need for physical synchronization hardware while maintaining measurement precision.
Solution Approach 2:
The patent substitutes the mechanical/electrical synchronization system with a computational system. Instead of using hardware circuits to synchronize camera operation, the system uses image processing algorithms (feature extraction, matching, and re-projection error minimization) to achieve the same effect, replacing a physical synchronization mechanism with an information-processing mechanism.
3Ease of manufacture
If asynchronous imaging is used, then manufacturing cost is reduced by using general-purpose cameras, but measurement precision deteriorates due to difficulty in restoring three-dimensional points
Solution Approach 1:
The patent implements an iterative feedback mechanism through re-projection error minimization. The system restores three-dimensional points from asynchronous images, projects them back to the image planes, calculates the error between projected and actual feature points, and uses this feedback to refine the three-dimensional point estimates. This feedback loop compensates for the temporal mismatch inherent in asynchronous imaging, enabling accurate 3D restoration without requiring expensive synchronized cameras.
Data Source
AI summary
According to an embodiment, a pose estimation apparatus includes first and second imagers and an estimator. The first imager generates first and second standard images respectively captured at first and second times. The second imager generates first and second reference images respectively associated with the first and second times. The estimator estimates, based on the first and second standard images and the first and second reference images, (a) a pose of the first imager at the first time, with a pose of the first imager at the second time being regarded as a standard and (b) a positional shift of the second imager capturing the first reference image from an estimated position of the second imager at the first time.