Stereo Camera Optical Axes Alignment via Vanishing Point Computation
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Solution Overview
Problem
Existing methods for calibrating stereo camera systems lack efficiency and accuracy in aligning optical axes without direct mechanical measurements, particularly in real-world environments, and often require complex equipment and iterative adjustments.
Innovation Solution
A method and system that utilize a planar pattern, such as a checkerboard, to recover boundary corner points, construct parallel lines, determine vanishing points, and adjust camera angles using intrinsic parameters for real-time alignment of optical axes, eliminating the need for additional equipment and simplifying the calibration process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional optical calibration methods are used for stereo camera alignment, then alignment accuracy can be achieved, but the process requires complex equipment and iterative adjustments, reducing efficiency
Solution Approach 1:
The patent extracts the essential calibration function from complex mechanical measurement equipment and implements it through pure image processing. By removing the need for specialized calibration tools and focusing only on image-based vanishing point detection, the system achieves alignment accuracy without equipment complexity
Solution Approach 2:
The patent replaces mechanical measurement systems with an optical-computational system. Instead of using physical calibration tools and mechanical adjustments, the system uses image capture, vanishing point computation, and coordinate transformation to achieve camera alignment, thereby eliminating complex mechanical equipment
2Measurement precision
If traditional calibration methods are used, then alignment can be achieved, but iterative adjustments are required, reducing productivity
Solution Approach 1:
The patent performs preliminary computation of vanishing points and alignment parameters from a single image capture. By pre-calculating the required camera adjustments based on vanishing point positions before any physical adjustment occurs, the system eliminates iterative trial-and-error adjustments and achieves alignment in one operation
Solution Approach 2:
The patent introduces vanishing point computation as an intermediary step between image capture and camera adjustment. This computational mediator transforms the alignment problem into a solvable geometric computation, providing direct alignment parameters without requiring iterative physical adjustments
3Measurement precision
If complex calibration procedures are used, then alignment accuracy is maintained, but more image information is lost, reducing measurement quality
Solution Approach 1:
The patent extracts only the essential information needed for alignment (vanishing points and their coordinates) from the captured images, rather than requiring comprehensive calibration data. This selective extraction preserves more of the original image information while achieving the necessary alignment accuracy
Data Source
AI summary
A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.