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 the positional relationship between a mobile unit and a marker due to marker distortion caused by movement and vibration, leading to decreased estimation accuracy of the mobile unit's self-location.
Innovation Solution
A mobile unit control system equipped with a stereo camera unit and processing circuitry that captures images of markers, detects markers from image data, estimates the mobile unit's position based on the positional relationship, and executes control operations using marker information and map data to ensure accurate navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single image capturing device is used on a mobile unit, then the device complexity is reduced, but the measurement precision of the positional relationship between the mobile unit and marker deteriorates due to marker distortion from movement and vibration
Solution Approach 1:
The single image capturing device is divided into multiple image capturing devices (first and second devices) positioned at different locations on the mobile unit. Each device captures images of the marker from its own perspective, allowing the system to segment the measurement task across multiple sensors to improve accuracy while maintaining manageable device complexity
Solution Approach 2:
The system transitions from single-point imaging to multi-point spatial imaging by positioning image capturing devices at different spatial locations on the mobile unit. This dimensional expansion allows triangulation and stereoscopic vision techniques to be applied, enabling accurate position estimation even when the marker appears distorted in individual images due to mobile unit movement and vibration
2Productivity
If the image capturing device is installed on a moving mobile unit, then the system can track the mobile unit's position dynamically, but the marker in captured images becomes distorted due to movement and vibration
Solution Approach 1:
The system continuously captures images from multiple devices, processes the marker positions, and uses this feedback to calculate and update the mobile unit's position in real-time. This closed-loop feedback mechanism allows the system to maintain accurate position tracking despite ongoing movement and vibration that cause marker distortion in individual frames
Solution Approach 2:
Multiple images of the marker are captured simultaneously from different positions before the mobile unit's movement significantly alters the marker's appearance. This preliminary multi-perspective capture allows the system to process and recognize the marker accurately before distortion becomes problematic, enabling reliable real-time tracking
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
The system achieves accurate estimation and control of the mobile unit's position, enabling effective navigation and compliance with speed and lift height restrictions in various environments by utilizing stereo vision for robust marker detection and triangulation.
Implementation Method 1
The image capturing device is a stereo camera unit... 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
AI summary
A mobile unit control system includes an image capturing device and processing circuitry. The image capturing device is a stereo camera unit. The processing circuitry acquires image data from the image capturing device. The processing circuitry detects a marker from the image data. The processing circuitry 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 processing circuitry executes a control based on the position of the mobile unit.