Stereo Camera Marker Localization for Mobile Unit Control
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Solution Overview
Problem
Existing mobile unit control systems face challenges in accurately estimating self-location due to marker distortion caused by movement or vibration, leading to inaccurate control, especially when using image capturing devices with markers.
Innovation Solution
A mobile unit control system equipped with a stereo camera unit that captures images of markers, processes image data to derive accurate positional relationships, and executes controls based on estimated positions, utilizing map data and marker information to enhance navigation and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single image capturing device is used to capture marker images, then the device complexity is low, but the measurement precision of the positional relationship between the mobile unit and marker decreases
Solution Approach 1:
The patent transitions from a single 2D image capturing device to a stereo camera system that captures images in three-dimensional space. By using multiple cameras positioned at different locations, the system obtains depth information and spatial relationships that cannot be achieved with a single 2D device, thereby improving positional relationship estimation accuracy.
Solution Approach 2:
The image capturing device is divided into multiple independent camera units (first camera and second camera) positioned at different locations. Each camera captures images from its own perspective, and the control unit integrates these segmented views to calculate accurate three-dimensional positional relationships through triangulation.
2Ease of operation
If the image capturing device is installed on the mobile unit, then the ease of operation is improved, but the marker image quality deteriorates due to movement and vibration
Solution Approach 1:
The stereo camera system captures images from multiple perspectives simultaneously, providing redundant information that compensates for movement and vibration. The control unit processes these images to calculate positional relationships, using the feedback from multiple viewpoints to maintain accuracy even when the mobile unit moves or vibrates during capture.
3Measurement precision
If a stereo camera unit is used to improve positional accuracy, then the measurement precision increases, but the device complexity and image processing requirements increase
Solution Approach 1:
The stereo camera unit adds a spatial dimension to image capture by positioning cameras at different locations. This dimensional addition enables three-dimensional positional relationship calculation through triangulation, improving self-location estimation accuracy while distributing the complexity across multiple simpler camera units rather than requiring a single complex device.
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
Accurately estimates the self-location of the mobile unit, enabling precise control and navigation by accurately recognizing markers, allowing for safe operation within defined environments.
Implementation Method 1
estimate a position of the mobile unit in the movement environment from a positional relationship between the mobile unit and the marker based on the marker
Data Source
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AI summary
A mobile unit control system includes an image capturing device and a control unit. The image capturing device is a stereo camera unit. The control unit acquires image data from the image capturing device. The control unit detects a marker from the image data. The control unit estimates a position of the mobile unit in the movement environment from a positional relationship between the mobile unit and the marker based on the marker. The control unit executes a control based on the position of the mobile unit.