Wrap-Around View Generation Using 3D Distance Projection
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Solution Overview
Problem
Current remote control of robots is limited by a restricted viewing angle, leading to distorted images when using omnidirectional or wide-angle cameras, making it difficult for users to accurately recognize obstacles, especially in complex environments.
Innovation Solution
An apparatus and method that utilize a camera module, a 3D Lidar sensor, and a navigation sensor to generate a wrap-around view by projecting 3D spatial information onto a 2D plane, creating a 3D model and mapping image information to minimize image distortion and provide a 3D effect.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If omnidirectional or wide-angle cameras are used to expand viewing angle, then the viewing coverage is improved, but image distortion increases making it difficult to accurately recognize obstacles
Solution Approach 1:
The patent introduces 3D spatial information from LiDAR sensors as an intermediary element between the omnidirectional camera and the final displayed image. This 3D distance information serves as a mediator that corrects the distorted images captured by wide-angle cameras, allowing accurate obstacle recognition while maintaining expanded viewing coverage
Solution Approach 2:
The patent transforms 3D spatial information into 2D distance information through projection, and uses this transformed parameter set to correct image distortion. By changing the parameters from 3D coordinates to 2D projected distance maps, the system maintains viewing coverage while improving measurement precision for obstacle recognition
2Measurement precision
If 3D spatial information is processed and projected onto 2D plane, then a 3D model is generated with accurate distance information, but the processing complexity increases
Solution Approach 1:
The patent projects 3D spatial information onto a 2D plane to create distance information maps. This dimensionality reduction simplifies the data structure while preserving essential distance metrics, making the processing more manageable while maintaining measurement precision
3Reliability
If image information is mapped to 3D model points, then a wrap-around view with 3D effect is achieved, but the computational requirements and processing time increase
Solution Approach 1:
The patent performs preliminary actions by first generating the 3D model from LiDAR data and pre-processing the image information before mapping. By preparing the 3D model structure and distance information in advance, the actual mapping process becomes more efficient, reducing real-time processing time while maintaining wrap-around view quality
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 users to receive a clear, undistorted 3D view of a robot's surroundings, enhancing the ability to accurately recognize obstacles and manipulate the robot remotely with improved accuracy.
Implementation Method 1
a 3D Lidar sensor for measuring first spatial information including 3D spatial coordinates and intensity of reflected signals
Data Source
AI summary
This application relates to an apparatus and method for providing a wrap-around view based on three-dimensional (3D) distance information. The apparatus may include a camera module, a sensor module, and a controller. The camera module acquires image information in all directions, and the sensor module measures 3D spatial information in all directions. The controller is configured to generate 3D distance information by projecting the measured 3D spatial information onto a two-dimensional (2D) plane, to generate a 3D model in a 3D space by using the generated 3D distance information, and to generate a wrap-around view by mapping the acquired image information to the generated 3D model.