Ultrasonic Ellipse Modeling for Curved Object Detection
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Solution Overview
Problem
Existing ultrasonic sensor-based object detection methods, such as point and line models, struggle to accurately identify the shapes and locations of curved or irregularly shaped objects, particularly when multiple reflection points are spread over a larger area.
Innovation Solution
Applying an ellipse model to ultrasonic sensor data to fit an ellipse to detection arcs, allowing for the determination of ellipsoidal parameters that indicate the curvature and location of objects, thereby improving object identification and reducing the shape and location of objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a point model is used to identify objects with limited reflection points, then the detection is simple and fast, but the accuracy deteriorates when objects have multiple reflection points over a larger area
Solution Approach 1:
The patent applies an ellipse model to fit detection arcs from ultrasonic sensors, replacing the simple point model. The ellipse curvature parameters (a, b, c) capture the geometric characteristics of objects with multiple reflection points, improving location accuracy while maintaining computational efficiency through analytical solutions.
2Measurement precision
If a line model is used to detect flat or straight objects, then the detection is effective for walls or curbs, but the accuracy deteriorates for curved objects such as bumpers or barrels
Solution Approach 1:
The ellipse model serves as a universal detection framework that can represent both straight objects (degenerate ellipses with infinite curvature radius) and curved objects (ellipses with finite curvature). This single model structure adapts to different object types by adjusting curvature parameters, eliminating the need for separate line and curve models.
3Measurement precision
If traditional triangulation techniques are used, then the computational process is simple, but the accuracy deteriorates for objects that are not flat or relatively small
Solution Approach 1:
The patent transforms the detection problem by changing from point-based parameters to ellipse curvature parameters (a, b, c). This parameter transformation enables accurate representation of curved objects while maintaining analytical solvability, avoiding the need for computationally intensive iterative methods.
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 ellipse model provides more accurate identification of object shapes and locations, enhancing the precision of object maps and navigation decisions for autonomous systems.
Implementation Method 1
various sensor data, such as image data, LiDAR data, RADAR data, ultrasonic sensor data (USS data), etc., may be captured using one or more sensors of the machine
Implementation Method 2
The detection arcs may indicate potential locations of an object within the respective fields of view of the ultrasonic sensors based on detected distances from the respective ultrasonic sensors
Data Source
AI summary
According to one or more embodiments of the present disclosure, an ellipse model may be applied to detection results included in ultrasonic sensor data (USS data) to identify one or more objects that may be indicated by the detection results. The identification of the objects may include determining the locations, shapes, and/or classifications of at least portions of the objects. For example, in some embodiments, the ellipse model may be applied to detection arcs indicated in USS data and corresponding to detection of an object using multiple ultrasonic sensors. In some embodiments, the application of the ellipse model may include fitting an ellipse to the detection arcs. The resulting ellipse and/or its corresponding ellipsoidal parameters may indicate one or more properties about the object.