Stereo Camera Recalibration Without Calibration Target
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Solution Overview
Problem
The recalibration process for stereo cameras in work machines is complex and deteriorates working efficiency, as it requires recalibrating the relative position between cameras using a calibration target, which is time-consuming and inefficient.
Innovation Solution
A position measurement system that includes an image data acquisition unit, a stereo measurement unit, a first adjustment unit to adjust the stereo ratio of disparity image data, and a second adjustment unit to adjust the scale of three-dimensional data, allowing for smooth recalibration without the need for a calibration target, by changing parameters to maintain accurate stereo measurement and scale accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If recalibration processing is executed using a calibration target, then measurement precision is maintained, but working efficiency deteriorates due to complex and time-consuming procedures
Solution Approach 1:
The invention extracts and removes the calibration target from the recalibration process. Instead of requiring a physical calibration target, the system uses image data from the stereo cameras themselves to automatically adjust parameters. This eliminates the time-consuming step of setting up and photographing a calibration target while maintaining measurement precision through automated parameter optimization.
Solution Approach 2:
The stereo camera system performs self-calibration by automatically adjusting its own parameters using its captured image data. The system executes recalibration processing internally without external intervention or calibration targets, allowing the work machine to maintain measurement accuracy while minimizing interruption to working operations.
2Manufacturing precision
If calibration target photography is required for recalibration, then parameter accuracy is ensured, but device complexity increases due to additional calibration equipment and procedures
Solution Approach 1:
The calibration target is completely removed from the system. The invention uses only the stereo cameras and their captured image data to perform recalibration, eliminating the need for external calibration equipment and simplifying the overall device configuration while maintaining parameter accuracy.
Solution Approach 2:
The stereo cameras serve dual functions: they capture image data for normal operation and simultaneously provide the data needed for recalibration processing. This multi-functionality eliminates the need for separate calibration equipment, reducing device complexity while ensuring accurate parameter adjustment.
Data Source
AI summary
A position measurement system includes: an image data acquisition unit that acquires first image data photographed by a first camera of a first stereo camera provided at a work machine and second image data photographed by a second camera of the first stereo camera; a stereo measurement unit that executes stereo measurement on the basis of the first image data, the second image data, and parameters related to the first camera and the second camera; a first adjustment unit that changes at least a part of the parameters to adjust a stereo ratio of first disparity image data subjected to stereo measurement; and a second adjustment unit that changes at least a part of the parameters to adjust a scale of first three-dimensional data obtained from the first disparity image data.