Work Machine Distance Prediction Using Object Height Uncertainty
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Solution Overview
Problem
Off-road work machines face challenges in accurately predicting distances to objects in non-flat terrains, leading to potential damage to the machines and surrounding objects.
Innovation Solution
A work machine management system that determines a range of potential distances between a work machine and an object by analyzing images captured by a camera, considering the object's height, uncertainty in height, and the angle between the camera and the object, and generates instructions for safe operation based on these calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If distance prediction assumes flat terrain, then calculation is simple, but prediction accuracy deteriorates in non-flat terrains
Solution Approach 1:
The system changes the parameter representation from a single distance value to a probability distribution of distances. By modeling distance as a distribution with mean and variance, the system accounts for terrain variations without requiring complex real-time terrain mapping, thus maintaining computational simplicity while improving accuracy.
Solution Approach 2:
The system pre-computes and stores height distributions for various object types in advance. These pre-computed statistical parameters are then used during operation to quickly determine distance probability distributions, avoiding the need for complex real-time calculations while accounting for terrain variations.
2Loss of time
If a single distance value is predicted, then the prediction is quick to compute, but it may lead to erroneous safety decisions
Solution Approach 1:
The system transforms the output from a single distance value to a probability distribution characterized by mean and variance. This allows the system to make safety decisions based on the entire distribution (e.g., comparing the mean to threshold or considering the variance), improving reliability while maintaining computational efficiency through closed-form solutions.
Solution Approach 2:
The system uses the variance of the distance distribution as feedback to adjust safety margins and decision thresholds. When variance is high (indicating uncertain terrain), the system automatically adjusts its safety criteria, leading to more reliable decisions without requiring excessive computation time.
3Reliability
If the system uses object height distribution to determine distance range, then safety is improved, but the system complexity increases
Solution Approach 1:
The system simplifies the representation of distance uncertainty by using only two parameters (mean and variance) instead of full probability distributions or complex spatial models. This parameter reduction maintains safety reliability while significantly decreasing system processing complexity and computational burden.
Solution Approach 2:
The system replaces complex geometric and terrain modeling mechanisms with statistical parameter transformations. Instead of performing complex 3D spatial reasoning and terrain analysis, the system uses closed-form mathematical transformations of the height distribution parameters to obtain distance distribution parameters, greatly simplifying the processing mechanism.
Data Source
AI summary
A system and a method are disclosed for determining a range of potential distances between a work machine and an object. The system receives an image captured by a camera on the work machine and identifies an object in the image. The system determines an angle between the camera and the object, a height associated with the object, and an uncertainty associated with the height. Based on the angle, the height, and the uncertainty, the system determines a range of potential distances between the work machine and the object. The shortest distance in the range is compared to a threshold distance for safe operation of the work machine. When the shortest distance in the range is less than the threshold distance, the system causes the work machine to perform a safety action.