公开(公告)号：US12043269B2

公开(公告)日：2024-07-23

申请号：US17651406

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Binbin Li ,  Xinyu Du ,  Yao Hu ,  Hao Yu ,  Wende Zhang

IPC: G06V20/58 ,  B60W40/10

CPC classification number: B60W40/10 ,  G06V20/58 ,  B60W2420/403 ,  B60W2552/53

Abstract: Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; receiving vehicle data indicating a velocity of the vehicle, wherein the vehicle data is associated with the image data; determining, by a processor, feature points within at least one image based on the vehicle data and a three dimensional projection method; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.

公开(公告)号：US20240142590A1

公开(公告)日：2024-05-02

申请号：US17974985

申请日：2022-10-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yao Hu ,  Xinyu Du ,  Binbin Li ,  Hao Yu

IPC: G01S7/497 ,  G01S7/40

CPC classification number: G01S7/4972 ,  G01S7/40

Abstract: A computer-implemented method for aligning a sensor to a vehicle includes receiving a first frame of measurement from the sensor which includes a first point cloud. One or more clusters Ci representing one or more objects or the ground are segmented. A first set of feature vectors fi is computed for each cluster Ci. Based on the first set of feature vectors fi a second set of feature vectors fi′ is predicted respectively using an initial transformation. A third set of feature vectors fj is computed for a second frame with a second point cloud with clusters Cj. A pair of matching clusters is identified from Ci and Cj. A feature distance between the matching clusters is computed. An alignment transformation is computed by updating the initial transformation based on the feature distance. The method further includes aligning the sensor and the vehicle based on the alignment transformation.

公开(公告)号：US20250148639A1

公开(公告)日：2025-05-08

申请号：US18500395

申请日：2023-11-02

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Binbin Li ,  Xinyu Du ,  Yao Hu ,  Hao Yu ,  Wende Zhang

IPC: G06T7/73 ,  G06V10/44 ,  G06V10/762 ,  G06V20/56

Abstract: A method of performing a camera to ground alignment for a camera system on a vehicle. The method includes determining if enabling conditions have occurred and estimating a location of a vanishing point in a source image. Ground lines are selected based on a source image. A lane line detection is performed based on clustering of the ground lines to determine lane lines in the source image. At least one of pitch, yaw, or roll of the vehicle are estimated from the source image. A cost function based on estimates of pitch, yaw, and roll is minimized to obtain an optimal pitch value, an optimal yaw value, an optimal roll value, and lane lines from the source image. A sliding window-based refinement is performed on source images. Alignment results are broadcast to a downstream application or it is determined if the camera system on the vehicle is misaligned.

公开(公告)号：US12094169B2

公开(公告)日：2024-09-17

申请号：US17651407

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Binbin Li ,  Xinyu Du ,  Yao Hu ,  Hao Yu ,  Wende Zhang

IPC: G06K9/00 ,  G06T7/73 ,  G06T7/80 ,  G06V10/22 ,  G06V10/40

CPC classification number: G06T7/80 ,  G06T7/73 ,  G06V10/22 ,  G06V10/40 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points based on a fixed two dimensional image road mask and a three dimensional region; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.

公开(公告)号：US12086996B2

公开(公告)日：2024-09-10

申请号：US17567365

申请日：2022-01-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Xinyu Du ,  Yao Hu ,  Binbin Li ,  Hao Yu ,  Wende Zhang

IPC: G06T7/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G01S17/89 ,  G01S17/931 ,  G06T7/246 ,  G06T7/33 ,  G06T7/55 ,  G06T7/80 ,  G06V20/56 ,  H04N5/262 ,  H04N23/90

CPC classification number: G06T7/33 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G01S17/89 ,  G01S17/931 ,  G06T7/246 ,  G06T7/55 ,  G06T7/80 ,  G06V20/56 ,  H04N5/2625 ,  H04N23/90 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/35 ,  G06T2207/10028 ,  G06T2207/20212 ,  G06T2207/30252

Abstract: A vehicle control system including a spatial monitoring system includes on-vehicle cameras that capture images, from which are recovered a plurality of three-dimensional points. A left ground plane normal vector is determined for a left image, a center ground plane normal vector is determined for a front image, and a right ground plane normal vector is determined for a right image. A first angle difference between the left ground plane normal vector and the center ground plane normal vector is determined, and a second angle difference between the right ground plane normal vector and the center ground plane normal vector is determined. An uneven ground surface is determined based upon one of the first angle difference or the second angle difference, and an alignment compensation factor for the left camera or the right camera is determined. A bird's eye view image is determined based upon the alignment compensation factor.

公开(公告)号：US20240095954A1

公开(公告)日：2024-03-21

申请号：US17947550

申请日：2022-09-19

Applicant: GM Global Technology Operations LLC

Inventor： Yao Hu ,  Hao Yu ,  Guanlun He ,  Xinyu Du ,  Binbin Li

IPC: G06T7/80 ,  G06T5/00 ,  G06T15/10

CPC classification number: G06T7/80 ,  G06T5/006 ,  G06T15/10 ,  G06T2207/30268

Abstract: A vehicle includes a system performing a method of operating a camera for the vehicle. The camera is configured to capture an image. The processor is configured to query the camera to obtain an intrinsic parameter of the camera, estimate a unified parameter based on the intrinsic parameter of the camera, and perform at least one application on the image using the unified parameter.