Virtual Camera Model for Autonomous Vehicle 3D Visualization
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Solution Overview
Problem
Autonomous vehicles face challenges in effectively visualizing and understanding their three-dimensional surroundings, particularly in integrating 3D sensor data with camera images to provide a comprehensive and intuitive view of the environment.
Innovation Solution
The method involves generating a 3D world view by receiving images from a vehicle's camera and 3D content, identifying a virtual camera model, and applying matrices such as view and projection matrices to the 3D content. This creates a visualization that overlays 3D content onto camera images, providing a real-world image with graphical overlays from the vehicle's perspective.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If 3D sensor data is integrated with camera images to provide comprehensive view, then visualization accuracy is improved, but system complexity increases
Solution Approach 1:
The patent introduces a virtual camera model as an intermediary component that mediates between 3D sensor data and camera images. This virtual camera model acts as a bridge, transforming 3D sensor information into a format that can be overlaid with camera images, thereby achieving accurate visualization without directly integrating complex sensor systems with the camera system.
Solution Approach 2:
The patent creates a virtual copy of the camera model (virtual camera model) that replicates the camera's optical characteristics and positioning. This virtual copy is used to render 3D content that can be overlaid on actual camera images, allowing accurate visualization while keeping the physical system relatively simple.
2Productivity
If local processing is used to enhance performance efficiency, then processing speed is improved, but computational resources required increase
Solution Approach 1:
The patent performs preliminary computation by pre-calculating and storing camera calibration parameters, intrinsic parameters, and extrinsic parameters before actual processing is needed. This preliminary action reduces the computational burden during real-time processing, improving efficiency while controlling resource requirements.
Solution Approach 2:
The patent transforms 3D sensor data into camera-space coordinates by applying parameter transformations (intrinsic and extrinsic parameters). This parameter change approach allows efficient local processing by converting complex 3D data into a standardized coordinate system that can be processed with standard graphics operations.
3Measurement precision
If virtual camera model is used to transform coordinates, then visualization accuracy is improved, but processing time increases
Solution Approach 1:
The patent performs coordinate transformation matrices and camera calibration calculations in advance (pre-computation). By preparing the virtual camera model and its transformation parameters beforehand, the actual rendering process can use pre-computed values, reducing real-time processing time while maintaining high accuracy.
Solution Approach 2:
The patent replaces complex real-time coordinate transformation calculations with pre-computed matrix operations. By substituting the mechanical process of real-time calculation with pre-prepared mathematical models, the system achieves both high accuracy and reduced processing time.
Data Source
AI summary
Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.