Vehicle Image Processor Pitching Compensation Vanishing Line
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Solution Overview
Problem
Existing vehicle-mounted image processors inaccurately calculate the vanishing line position due to movement of objects in the vertical orientation being misinterpreted as changes in relative distance between the vehicle and objects, leading to miscalculations in distance measurement.
Innovation Solution
The processor calculates velocity information for individual pixel images, identifies a set of observation points with stable relative positions between frames, extracts feature points of differing heights, eliminates the effect of pitching, and uses the velocity ratio of these points to accurately determine the vanishing line position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vanishing line position is calculated based on the amount of movement in the vertical orientation of objects between frames, then the distance between the vehicle and objects can be measured, but the vanishing line position becomes miscalculated when object movement is detected as a result of change in relative distance
Solution Approach 1:
The patent segments the image processing into distinct modules: velocity information calculation for individual pixels, observation point group identification, pitching detection, and vanishing line position calculation. This segmentation allows each module to handle specific aspects independently, preventing the mixing of pitching effects and relative distance changes that causes miscalculation.
Solution Approach 2:
The patent introduces an intermediary approach by calculating velocity information for individual pixels and identifying observation points with stable relative positions as mediators between the image frames. These observation points serve as reference markers that help separate the effects of pitching from relative distance changes, enabling accurate vanishing line position calculation.
2Measurement precision
If the amount of pitching is detected using vertical movement of objects, then vehicle pitching angle can be calculated, but the vanishing line position is miscalculated due to mixed effects of pitching and relative distance change
Solution Approach 1:
The patent extracts the pitching effect from the overall image movement by identifying observation points with stable relative positions between frames. These extracted observation points allow the system to separate and measure pitching independently from relative distance changes, preventing the mixing of effects that leads to miscalculation.
Solution Approach 2:
The patent employs feedback by calculating velocity information for individual pixels and using this feedback to identify observation points with stable relative positions. This feedback loop allows the system to continuously refine its understanding of pitching versus distance changes, improving both pitching detection accuracy and vanishing line position calculation precision.
Data Source
AI summary
A vehicle-mounted detecting device and corresponding method for detecting a distance between the vehicle and an object outside the vehicle. The detecting device extracts edge intersection points from images of individual frames photographed by a camera. A set of edge intersection points for which the relative position in images does not change between frames is then specified as an observation point group; the movement of the specified observation point group in images is observed; and pitching by the vehicle is detected. Any two points with differing heights on an object present in an image are extracted as feature points, and after the effect of pitching is eliminated from the feature points, the position of a vanishing line in the image is calculated based on the ratio of the velocities of the feature points in images after the length between the two feature points and the effects of pitching are eliminated.