Stereo Camera Rectification Error Detection via Disparity Maps
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Solution Overview
Problem
Conventional stereo camera systems face delays in determining and correcting rectification parameter errors due to temperature and vibration characteristics, leading to inefficiencies in image processing.
Innovation Solution
An image processing apparatus with a rectification unit, matching unit, error map creating unit, and parameter correcting unit that determines and corrects rectification errors using disparity information and error maps, allowing for dynamic online calibration and reduced processing load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If non-linear optimization processing is performed using characteristic points or characteristic regions to correct rectification parameter errors, then the parameter error is corrected, but the processing time increases significantly
Solution Approach 1:
The patent extracts only the necessary information (disparity values at specific pixel locations) from the stereo matching results to detect rectification errors, rather than performing comprehensive non-linear optimization on all characteristic points. This extraction approach reduces processing time while maintaining error detection capability
Solution Approach 2:
The patent introduces disparity information as an intermediary element to detect rectification parameter errors. Instead of directly performing complex optimization processing, the system uses disparity values at specific pixel locations as a mediator to identify errors and trigger corrections only when necessary
2Measurement precision
If comprehensive stereo matching and non-linear optimization are performed to ensure accurate rectification error detection, then detection accuracy is improved, but processing load and resource consumption increase
Solution Approach 1:
The patent applies local quality by checking rectification errors at specific pixel locations (e.g., corner pixels or pixels at image boundaries) rather than analyzing all pixels uniformly. This localized approach maintains detection accuracy at critical areas while reducing overall processing load
Solution Approach 2:
The patent performs partial stereo matching and error detection only when necessary, rather than continuously processing all images with full optimization. The system selectively applies error detection to specific regions or conditions, reducing processing load while maintaining sufficient detection accuracy
Data Source
AI summary
According to an embodiment, an image processing apparatus includes a matching unit configured to perform stereo matching processing on two images obtained through imaging using two cameras, an error map creating unit configured to create an error map indicating a displacement amount of the two images in a direction orthogonal to a search line for the two images subjected to the stereo matching processing, and a parallelization parameter error determining unit configured to determine whether or not there is an error of rectification which parallelizes the two images, based on the error map.