Vehicle Sensor Pose Calibration for Accurate Position Estimation
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Solution Overview
Problem
Existing technologies fail to accurately estimate the position of a vehicle due to unpredictable changes in the relative positional relationship between the sensor and the vehicle, leading to inaccurate navigation and potential deviation from the planned route.
Innovation Solution
A system that detects and corrects changes in the relative positional relationship between a vehicle's sensor and the vehicle itself by using a stereo camera, performing simultaneous localization and mapping (SLAM) to estimate the sensor's position, and converting this information to the vehicle's coordinate system to detect deviations, allowing for real-time calibration and notification of users.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the sensor is mounted on the vehicle, then the sensor can measure environmental objects, but the relative positional relationship between the sensor and vehicle may change unpredictably, leading to position estimation errors
Solution Approach 1:
The system continuously monitors the actual position and orientation of the sensor relative to the vehicle by comparing estimated positions with expected positions based on predetermined movements. When deviations are detected, the system generates correction information to adjust the sensor's position/orientation data, creating a closed-loop feedback mechanism that maintains measurement accuracy despite physical changes in the sensor-vehicle relationship
Solution Approach 2:
The system performs calibration by making the vehicle execute predetermined movements before actual navigation begins. During this preliminary phase, the system establishes the initial positional relationship between the sensor and vehicle, and creates expected position data that will be used for subsequent comparison and correction during normal operation
2Measurement precision
If calibration is performed by moving the robot to satisfy predetermined relative positional relationships, then position estimation accuracy improves, but the calibration process becomes time-consuming and complex
Solution Approach 1:
Instead of requiring complete and complex calibration procedures to achieve perfect positional accuracy, the system performs partial calibration by executing a simplified predetermined movement sequence. The system accepts that some minor deviations will occur and compensates for them through continuous correction during operation, rather than attempting to eliminate all potential errors during the calibration phase
Solution Approach 2:
The system changes the calibration approach by using predetermined movements with known parameters (distance, direction, speed) that can be easily controlled and measured. By transforming the calibration problem into a parameter-based comparison between expected and actual positions, the system simplifies the calibration process while maintaining accuracy
3Adaptability or versatility
If the sensor's position/orientation changes relative to the vehicle, then the sensor may adapt to different mounting conditions, but the position estimation accuracy deteriorates
Solution Approach 1:
The system transitions from a static calibration approach (fixed sensor position assumed after initial calibration) to a dynamic correction approach where the sensor's position and orientation are continuously adjusted based on real-time comparison between expected and actual positions. This dynamic adaptation allows the system to maintain accuracy even when the sensor's physical mounting changes
Data Source
AI summary
Based on expected position information on a vehicle obtained based on input information input from a sensor when the vehicle makes a predetermined movement with a position/orientation of the sensor maintained relative to the vehicle, and position information on the vehicle estimated based on input information input from the sensor after the vehicle makes the predetermined movement, information related to a change of the position/orientation of the sensor relative to the vehicle after the vehicle makes the predetermined movement, from a held position/orientation, is output.