Trailer Coupler 3D Detection Using Camera Triangulation
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Solution Overview
Problem
Existing vehicle systems lack effective methods to assist operators in accurately positioning the trailer hitch relative to the coupler of a trailer during coupling, which can lead to difficulties in aligning the two correctly.
Innovation Solution
A method that utilizes a camera mounted on the vehicle to calculate its motion, determine 2D positions of the coupler in input images, estimate 3D positions through triangulation, optimize these positions to reduce reprojection errors, and filter them to accurately detect the 3D position of the coupler, thereby guiding the vehicle to align with the trailer coupler.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a camera-based system is used to detect coupler position, then the ease of operation is improved, but the measurement precision deteriorates due to 2D-to-3D estimation challenges
Solution Approach 1:
The system transitions from 2D image coordinates to 3D spatial coordinates by incorporating camera motion data and performing triangulation. Multiple 2D positions captured from different camera positions are transformed into accurate 3D coupler positions, resolving the precision limitation of pure 2D image analysis.
Solution Approach 2:
The system implements iterative optimization where initial 3D position estimates are refined by comparing reprojection errors against actual 2D observations. This feedback loop continuously adjusts the 3D position estimates to better match the observed 2D coupler positions, improving measurement precision.
2Measurement precision
If triangulation and optimization are performed on multiple 3D positions, then the measurement precision is improved, but the loss of time increases due to computational processing
Solution Approach 1:
The system performs preliminary triangulation to generate initial 3D position estimates before applying optimization. This preliminary action provides a good starting point for the optimization algorithm, reducing the number of iterations needed to converge to an accurate solution and thereby minimizing processing time.
Solution Approach 2:
The system processes multiple 2D positions and performs optimization on multiple 3D position estimates, using more computational effort than the bare minimum. This excessive action ensures high precision by considering multiple observations and iteratively refining results, with the benefit that modern computing systems can handle this load efficiently.
3Manufacturing precision
If multiple 2D positions are processed through triangulation, then the manufacturing precision is improved, but the device complexity increases due to additional computational steps
Solution Approach 1:
The camera system serves multiple functions: capturing 2D images of the coupler, tracking camera motion, and providing the basis for 3D reconstruction through triangulation. This multi-functionality reduces the need for separate sensors and simplifies the overall system architecture while maintaining high position detection accuracy.
Solution Approach 2:
The system introduces an intermediary computational process (triangulation and optimization) that bridges the gap between 2D camera observations and 3D coupler position. This intermediary transformation allows accurate 3D position detection to be achieved using a simple camera, avoiding the need for complex 3D sensing hardware.
Data Source
AI summary
A method of detecting and utilizing a 3-dimensional (3D) position of a coupler of a trailer may include calculating a motion of a camera mounted to a vehicle; determining 2-dimensional (2D) positions of the coupler within input images captured by the camera; estimating 3D estimated positions of the coupler based on the 2D positions of the coupler and the motion of the camera; optimizing the 3D estimated positions of the coupler to generate adjusted 3D coupler positions; and filtering the adjusted 3D coupler positions to detect the 3D position of the coupler of the trailer.