Watercraft Sensor Calibration Using Bow Detection Without Markers
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Solution Overview
Problem
Existing sensor calibration methods for watercraft require laborious affixing of index markers for sensor calibration, which is inefficient and cumbersome, especially when retrofitting sensors on watercraft after leaving the shipyard.
Innovation Solution
A sensor calibration system that uses a primary environment sensor to detect the bow of the watercraft and calibrate its position and orientation relative to the hull, eliminating the need for index markings by employing image sensors and LIDAR to identify the bow accurately, and combining multiple sensors for a wide view range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If index markers are affixed to various parts of the watercraft for sensor calibration, then the cameras can be properly calibrated, but the calibration work becomes laborious and time-consuming
Solution Approach 1:
The patent extracts the calibration target function from physical index markers and transfers it to naturally existing features on the watercraft hull. Instead of requiring external markers to be affixed, the system uses the hull's geometric features (edges, corners, surfaces) as calibration targets, thereby eliminating the time-consuming marker affixing process while maintaining calibration accuracy
Solution Approach 2:
The watercraft hull itself serves as the calibration target through its inherent geometric features. The hull's edges, corners, and surfaces provide the necessary reference points for calibration without requiring external assistance or additional components, making the calibration process self-contained and eliminating the need for separate index markers
2Measurement precision
If index markers are affixed to the watercraft for calibration, then the sensors can be calibrated accurately, but the process must be repeated when re-calibration is desired
Solution Approach 1:
The calibration system is designed to work with pre-existing, permanent features on the watercraft hull that are already in place before calibration begins. These geometric features serve as permanent reference points that eliminate the need for temporary marker affixing and removal cycles, simplifying both initial and re-calibration processes
Solution Approach 2:
The patent creates a digital model or map of the watercraft hull's geometric features that can be stored and reused for multiple calibration sessions. This digital copy of the hull's calibration features eliminates the need to physically re-apply markers during re-calibration, as the system can reference the stored geometric data
3Area of stationary object
If multiple sensors are used to detect the watercraft and external objects, then the view range is expanded, but the complexity of sensor calibration increases
Solution Approach 1:
The calibration process is segmented into independent steps: first identifying the watercraft hull features, then using those features to calibrate each sensor individually. This segmentation allows multiple sensors to be calibrated using the same set of hull features without requiring complex inter-sensor coordination, thereby expanding detection coverage while managing calibration complexity
Solution Approach 2:
The geometric features on the watercraft hull serve as universal calibration targets that can be used by multiple different sensors (cameras, LIDAR, radar) simultaneously. This multi-functional calibration target eliminates the need for sensor-specific markers or calibration procedures, simplifying the overall calibration process while enabling comprehensive multi-sensor detection coverage
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and efficient sensor calibration without index markers, simplifying the calibration process and enhancing the awareness of the surrounding environment for automatic piloting and autonomous operations.
Implementation Method 1
the primary environment sensor (8A) includes at least one of an image sensor and a LIDAR (7A)
Data Source
AI summary
A sensor calibration system (5) for watercraft (1), comprising: a primary environment sensor (7A, 8A) configured to detect an external object including a first or second region of the watercraft and a distance to the external object, and mounted to a part of the watercraft; and a processor (11) for processing an output of the primary environment sensor, wherein the processor is configured to identify a bow (1a) of the watercraft from the output of the primary environment sensor, and calibrate a position and an orientation of the primary environment sensor relative to the bow.