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公开(公告)号：US10037472B1
公开(公告)日：2018-07-31
申请号：US15465296
申请日：2017-03-21
Applicant: Delphi Technologies, Inc.
Inventor： Susan Chen , David A. Schwartz , Anuradha Mangalgiri , Yu Liu , Jan Siegemund
CPC classification number: G06K9/00805 , B60W30/00 , G01S13/42 , G01S13/726 , G01S13/867 , G01S13/931 , G06K9/00798 , G06K9/6288 , G08G1/166 , G08G1/167
Abstract: An object detection system for an automated vehicle includes a radar, a camera, and a controller. The radar detects a cluster of targets characterized by a radar-distance (x) from the host-vehicle. The camera renders an image of an object and a lane-marking present in the area. The controller is configured to determine an equation that is a function of a longitudinal-distance from the host-vehicle and corresponds to the lane-marking, determine a first-optical-angle (θ) based on a first-image-distance between a reference-point on the object and a spot on the image indicated by the equation where the longitudinal-distance is equal to the radar-distance, determine a lateral-distance (Dist_LM) between the object and the lane-marking based on the first-optical-angle and the radar-distance, and determine a first-lateral-offset (yRM) between the object and a longitudinal-axis of the host-vehicle based on the lateral-distance and a first-value of the equation where the longitudinal-distance is equal to the radar-distance.
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公开(公告)号：US10102644B2
公开(公告)日：2018-10-16
申请号：US15384615
申请日：2016-12-20
Applicant: Delphi Technologies, Inc.
Inventor： Jens Westerhoff , Stephanie Lessmann , Mirko Meuter , Jan Siegemund
Abstract: A method of estimating an orientation of a camera relative to a surface includes providing a first image and a subsequent second image captured by the camera; selecting a first point from the first image and a second point from the second image, where the first and second points represent the same object; defining a first optical flow vector connecting the first point and the second point; carrying out a first estimation step comprising estimating two components of the normal vector in the camera coordinate system by using the first optical flow vector and restricting parameter space to only the two components of the normal vector, wherein a linear equation system derived from a homography matrix that represents a projective transformation between the first image and the second image is provided and the two components of the normal vector in the camera coordinate system are estimated by solving the linear equation system; and determining the orientation of the camera relative to the surface using the results of the first estimation step.
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3.发明申请公开(公告)号：US20170206674A1
公开(公告)日：2017-07-20
申请号：US15384615
申请日：2016-12-20
Applicant: Delphi Technologies, Inc.
Inventor： Jens Westerhoff , Stephanie Lessmann , Mirko Meuter , Jan Siegemund
CPC classification number: G06T7/70 , B60R11/04 , G06T3/20 , G06T7/60 , G06T7/97 , G06T2207/30244 , G06T2207/30252
Abstract: A method of estimating an orientation of a camera relative to a surface includes providing a first image and a subsequent second image captured by the camera; selecting a first point from the first image and a second point from the second image, where the first and second points represent the same object; defining a first optical flow vector connecting the first point and the second point; carrying out a first estimation step comprising estimating two components of the normal vector in the camera coordinate system by using the first optical flow vector and restricting parameter space to only the two components of the normal vector, wherein a linear equation system derived from a homography matrix that represents a projective transformation between the first image and the second image is provided and the two components of the normal vector in the camera coordinate system are estimated by solving the linear equation system; and determining the orientation of the camera relative to the surface using the results of the first estimation step.
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