Stereo Image Yaw Correction Using Disparity and Reference Lines
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Solution Overview
Problem
Existing image processing systems for driver assistance struggle to accurately correct the yaw angle of stereo camera images due to its minimal influence on the y-component, leading to potential errors from noise and other factors.
Innovation Solution
An image processing device that detects reference lines in stereo images, calculates disparity, and corrects the yaw angle using a homography transformation, optimizing parameters to minimize parallax differences and achieve precise external parameter calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the deviation in yaw angle is detected using the y component of feature points, then the rectification process is simplified, but the detection accuracy deteriorates because the yaw angle deviation has little influence on the y component
Solution Approach 1:
The patent transitions from using only the y-component (one dimension) for detecting yaw angle deviation to utilizing the x-component (another dimension) in combination with the y-component. By incorporating the x-component which has stronger influence from yaw angle deviation, the detection accuracy is improved while maintaining the rectification process simplicity.
Solution Approach 2:
The patent changes the detection parameters from solely relying on y-component deviations to using a combination of x and y component deviations. This parameter change allows the system to capture the influence of yaw angle deviation more effectively, thereby improving measurement precision without significantly increasing device complexity.
2Measurement precision
If the optical axis deviation is corrected using rectification or parallelization, then the three-dimensional position measurement accuracy is improved, but the calculation complexity and processing time increase
Solution Approach 1:
The patent extracts only the essential information needed for correction by detecting specific feature points and their deviations in x and y directions. Instead of performing full image rectification or parallelization which processes entire images, the method extracts key deviation parameters and uses them for correction, thereby reducing calculation complexity while maintaining measurement precision.
Solution Approach 2:
The patent performs preliminary detection of feature point deviations and calculates correction parameters before the actual three-dimensional position measurement. By pre-calculating the deviation components and correction factors, the system reduces the processing complexity during the main measurement operation while ensuring accurate position measurement results.
3Speed
If the yaw angle correction is performed without considering x-component deviation, then the processing speed is maintained, but the correction accuracy deteriorates due to noise and other factors
Solution Approach 1:
The patent incorporates the x-component dimension into the yaw angle correction process. By utilizing both x and y component deviations, the system achieves more accurate yaw angle correction without significantly impacting processing speed, as the additional calculation involves only simple deviation measurements rather than complex image processing.
Data Source
AI summary
An image processing device used in determining a distance to an object includes a memory that stores a stereo image of the object including first and second images, and a processor configured to detect first and second reference lines in the first image, calculate disparity between the first and second images, correct, using the calculated disparity, a position of the first reference line in the second image, and calculate a parameter for determining the distance to the object, the parameter indicating a difference between the first and second images based on a distance between the first and second reference lines in the first image and disparity between the first reference line in the first image and the corrected first reference line in the second image.