Stereoscopic Camera Continuous Autofocus During Robotic Motion
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Solution Overview
Problem
Challenges in coordinating the focus of multiple lenses in a stereoscopic imaging device, especially when assisted by a robotic system, result in reduced image quality due to different objects being focused on by each lens, which is exacerbated by movement of the imaging device during image acquisition.
Innovation Solution
A stereoscopic imaging platform with a controller that utilizes a closed-loop control module to adjust the focal length based on disparity and sharpness signals, maintaining focus while the robotic arm and target site move, using proportional-integral-derivative control to minimize disparity and maximize sharpness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple lenses are used in a stereoscopic imaging device to capture images from different perspectives, then the ability to produce stereoscopic images is improved, but the difficulty of coordinating focus across all lenses increases, leading to reduced image quality when lenses focus on different objects
Solution Approach 1:
The system uses disparity signals from comparing left and right images to feedback control the focus motors, automatically adjusting lens positions to maintain coordinated focus across all lenses in the stereoscopic imaging device
Solution Approach 2:
The patent replaces manual mechanical focus coordination with an automated control system that uses image processing (disparity calculation) and electronic control to adjust lens positions, substituting mechanical precision requirements with electronic control
2Adaptability or versatility
If a robotic system is used to move the imaging device during image acquisition to enhance flexibility and coverage, then the adaptability of the system is improved, but the challenge of maintaining coordinated focus across multiple lenses increases
Solution Approach 1:
The system continuously monitors disparity signals during robotic movement and uses feedback control to adjust focus motors in real-time, maintaining coordinated focus despite the dynamic repositioning performed by the robotic system
Solution Approach 2:
The patent implements dynamic focus adjustment that adapts to the changing positions of the imaging device during robotic movement, allowing the system to maintain focus coordination while being dynamically repositioned
3Ease of operation
If automatic focus is implemented in a stereoscopic imaging device with multiple lenses, then the ease of operation is improved, but the complexity of the control system increases due to the need to coordinate focus across all lenses
Solution Approach 1:
The patent replaces complex mechanical focus coordination mechanisms with an electronic control system that uses image disparity signals to automatically adjust lens positions, simplifying the overall system architecture while maintaining automatic focus functionality
Solution Approach 2:
The system uses the image data itself (disparity signals from left and right images) to automatically control the focus motors, allowing the imaging system to self-adjust focus without external intervention despite the complexity of coordinating multiple lenses
Data Source
AI summary
A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The automatic focusing modes include a continuous autofocus mode adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera and the target site is moving along at least an axial direction.