Visual Feature Sharing for Fast Relative Vehicle Pose Estimation
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Solution Overview
Problem
Existing visual odometry systems in automotive applications, such as ADAS, face challenges in achieving high accuracy and timely determination of relative vehicle pose due to limitations in on-board camera capabilities, leading to delayed reaction times for lane changes and collision avoidance.
Innovation Solution
Implementing mechanisms for visual feature sharing between wireless communication devices to determine relative pose by transmitting and receiving image features with keypoints, enabling accurate calculation of vehicle displacement and orientation using sidelink communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If visual odometry is implemented using only on-board cameras, then device complexity is reduced, but measurement precision of relative pose determination deteriorates
Solution Approach 1:
The patent combines data from multiple sources including on-board cameras and remote devices to perform visual odometry. By merging camera data with remote device information, the system achieves higher measurement precision without significantly increasing overall system complexity
Solution Approach 2:
The patent introduces remote devices as intermediaries that provide additional visual data and computational assistance. These remote devices act as mediators that enhance pose determination accuracy without requiring the on-board system to handle all processing alone
2Measurement precision
If visual feature sharing between wireless communication devices is implemented, then measurement precision of relative pose improves, but loss of time for data transmission increases
Solution Approach 1:
The patent extracts only the essential visual features (keypoints and descriptors) from images rather than transmitting complete image data. This extraction approach maintains high measurement precision while significantly reducing data transmission time and bandwidth requirements
Solution Approach 2:
The patent transmits only the necessary portion of visual information (key features rather than full images). This partial action approach provides sufficient data for accurate pose determination without the excessive time cost of transmitting complete image data
3Measurement precision
If more visual features are transmitted from remote devices, then measurement precision of relative pose improves, but quantity of data transmitted increases
Solution Approach 1:
The patent extracts only the most relevant visual features (keypoints with their descriptors) from images. This selective extraction provides sufficient information for accurate pose determination while keeping data transmission volume minimal
Solution Approach 2:
The patent transforms visual data into a compact parameter representation (keypoint coordinates and descriptors). This parameter change from full images to feature vectors maintains measurement precision while dramatically reducing the quantity of data that needs to be transmitted
Data Source
AI summary
Aspects relate to techniques for visual feature sharing between wireless communication devices for relative pose determination. A first wireless communication device may transmit a request for visual feature sharing to a second wireless communication device and in response receive a message from the second wireless communication device including a plurality of features (e.g., keypoints) of an image captured by the second wireless communication device. The first wireless communication device may then calculate a relative pose of the first wireless communication device with respect to the second wireless communication device based on an association between the features provided by the second wireless communication device and additional features obtained from an additional image captured by the first wireless communication device.