Tilted Stereo Camera Assembly for Reducing Horizontal Edge Ambiguity
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Solution Overview
Problem
Passive stereo systems face ambiguity in matching stereo images due to frequent occurrences of horizontal edges, which are common in man-made and urban environments, leading to incorrect or low-confidence matches.
Innovation Solution
An optical passive stereo assembly with internally tilted image capturing devices, where each device is mounted skewed relative to the horizontal plane, processes data to generate a point cloud and applies a 2D rotation in the X-Y plane to convert the coordinate system, allowing for the generation of a three-dimensional image while appearing externally straight, similar to a regular depth camera.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If image capturing devices are mounted in a horizontal position, then the device appears simple and easy to operate, but horizontal edges occur frequently causing matching ambiguity
Solution Approach 1:
The image capturing devices are mounted in an asymmetric tilted configuration rather than a symmetric horizontal arrangement. This asymmetric mounting reduces the frequency of horizontal edges in captured images, thereby decreasing matching ambiguity and improving stereo matching reliability while maintaining ease of operation through automated coordinate transformation.
2Reliability
If image capturing devices are mounted in a tilted position, then matching accuracy improves by reducing horizontal edges, but device complexity increases
Solution Approach 1:
Instead of using complex mechanical adjustment mechanisms to optimize camera mounting angles, the invention replaces the mechanical optimization approach with a software-based coordinate transformation system. The tilted mounting provides matching accuracy benefits, while the automated 2D rotation in the X-Y plane compensates for the tilted orientation, effectively reducing overall system complexity.
Solution Approach 2:
The invention changes the mounting angle parameter of the image capturing devices from the conventional horizontal position to a tilted position. This parameter change reduces horizontal edge frequency and improves matching accuracy. The associated coordinate system transformation automatically handles the complexity of the tilted configuration, converting tilted coordinate data into conventional Cartesian coordinates.
3Reliability
If a tilted coordinate system is used, then matching accuracy improves, but compatibility with conventional systems decreases
Solution Approach 1:
The invention introduces a coordinate transformation process as an intermediary between the tilted coordinate system (which provides matching accuracy) and conventional Cartesian coordinate systems (which ensure compatibility). The processor performs 2D rotation in the X-Y plane to convert tilted coordinate data into conventional Cartesian coordinates, enabling seamless integration with existing systems while maintaining the accuracy benefits of tilted mounting.
Data Source
AI summary
An optical passive stereo assembly for generating a three-dimensional image, the optical assembly comprising: two image capturing devices each mounted within the optical passive stereo assembly in a skewed position to the other with respect to the horizontal plane; a processor configured to: process data retrieved from a plurality of pixels comprised within images captured by the two image capturing devices, and generate a point cloud, being a set of data points in a 3D space retrieved from the tilted coordinate system (X′, Y′, Z′); apply a 2D rotation in the X-Y plane to the point cloud, thereby converting the coordinate system of the resulting point cloud to a conventional cartesian coordinate system (X, Y, Z), to enable generating the three-dimensional image.