Vehicle Image Positioning With Marker Correction During Turns
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Solution Overview
Problem
In environments with varying backgrounds, such as factories and warehouses, it is challenging to accurately determine the current position of a moving body using pre-created maps, as errors in position calculation cumulatively increase over time.
Innovation Solution
A positioning apparatus equipped with an image capturing device, a first calculator for relative position and attitude calculation, a storage apparatus for marker and map information, a second calculator for absolute position and attitude calculation, and a corrector that adjusts the relative position and attitude based on the absolute position and attitude, while ignoring errors during turning periods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If Visual-SLAM is used to calculate relative position based on captured images, then the positioning system does not require wireless transmitters and can operate indoors, but errors cumulatively increase with time
Solution Approach 1:
The system uses detected markers as feedback points to correct cumulative positioning errors. When markers are detected in captured images, the system calculates absolute position based on marker positions and uses this information to correct the relative position data, preventing error accumulation over time.
Solution Approach 2:
Markers serve as intermediary reference objects between the imaging device and the environment. These markers provide known reference points that enable the system to transition from relative position calculation to absolute position determination, acting as a mediator to reset cumulative errors.
2Measurement precision
If markers are extracted from captured images for absolute position calculation, then positioning accuracy is improved, but the system becomes more complex
Solution Approach 1:
Marker information including positions and attitudes is pre-stored in the storage device before the positioning operation begins. This preliminary preparation allows the system to quickly compare detected markers against stored reference data, simplifying the real-time processing required during actual positioning operations.
3Reliability
If the moving body is turning, then the second attitude calculated from markers includes errors, but excluding this data reduces positioning accuracy
Solution Approach 1:
The system selectively uses only the necessary portion of attitude data - specifically, it excludes second attitude data obtained during turning periods when errors are known to occur. By using partial attitude data from non-turning periods only, the system maintains sufficient positioning accuracy while eliminating unreliable measurements.
Data Source
AI summary
A first calculator calculates a relative position and a relative attitude of a vehicle based on a plurality of images captured by an image capturing apparatus mounted on the vehicle. A second calculator extracts one marker from an image captured by the image capturing apparatus, and calculates an absolute position and an absolute attitude of the vehicle based on a position and an attitude of the one extracted marker. A corrector corrects the relative position and the relative attitude based on the absolute position and the absolute attitude to generate a corrected position and a corrected attitude of the vehicle. The corrector determines whether or not the vehicle is turning, and generates the corrected attitude not using the absolute attitude calculated during a period in which the vehicle is turning, but using only the absolute attitude calculated during a period in which the vehicle is not turning.