Video Driver Assistance Pixel Offset Compensation
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Solution Overview
Problem
Existing video-based driver assistance systems face inaccuracies and ambiguities in determining 3D object positions due to incorrect correspondences and pixel offsets caused by camera movements, leading to suboptimal scene representation and safety issues.
Innovation Solution
A method and device that determine and compensate for pixel offsets resulting from pitch, yaw, and roll angle changes using yaw rate sensors and acceleration sensors, ensuring precise vehicle environment and object detection, thereby enhancing the accuracy and reliability of the driver assistance system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If stereo methods are used to determine depth values by triangulation, then 3D object position can be determined, but incorrect correspondences occur due to repetitive structures leading to inaccurate depth values
Solution Approach 1:
The patent introduces an intermediate compensation step that calculates expected pixel offsets based on camera movement data (from gyro sensor and acceleration sensor) before performing stereo matching. This intermediary calculation helps guide the correspondence search and reduces incorrect matches in repetitive structures by accounting for known camera motion between frames.
Solution Approach 2:
The system uses feedback from pixel offset compensation to improve stereo matching accuracy. By continuously monitoring camera movement and adjusting the expected pixel offset accordingly, the system refines its correspondence determination and reduces errors in depth calculation caused by repetitive patterns.
2Measurement precision
If pixel offset compensation is performed using sensor data, then accuracy of object position determination is improved, but device complexity increases due to additional sensors and processing
Solution Approach 1:
The patent makes the image recording unit multi-functional by integrating both image capture and motion sensing capabilities. The gyro sensor and acceleration sensor are incorporated into the camera assembly, allowing the same device to perform both visual detection and motion compensation functions, thereby reducing overall system complexity.
Solution Approach 2:
The system merges the image recording unit with motion sensing components (gyro sensor and acceleration sensor) into an integrated assembly. This combination allows the pixel offset compensation to be performed using data from co-located sensors, simplifying the system architecture compared to using separate independent sensing systems.
3Reliability
If object model adaptation is performed on 3D point cloud data, then scene representation is improved, but ambiguities occur leading to false positive assignments
Solution Approach 1:
The patent performs preliminary pixel offset compensation before the object model adaptation process. By pre-correcting the image data for camera motion and establishing more accurate correspondences beforehand, the subsequent object recognition and model adaptation operate on cleaner, more reliable data, reducing false positives and improving identification accuracy.
Data Source
Figure 1~2
AI summary
The invention relates to a method for operating a video-based driver assistance system (2) in a vehicle (F), wherein by means of image data recorded by an imaging unit (1.1) and processed by an image processing unit (1.2) a vehicle environment and/or at least one object (O) in the vehicle environment and/or status data are determined. In the determination of the vehicle environment, of the object (O) in the vehicle environment and/or of the status data, a pixel offset (P) present in the image data of consecutive images is determined and compensated for. The invention further relates to an apparatus (1) for operating a video-based driver assistance system (2) in a vehicle (F).