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公开(公告)号：US20240312058A1
公开(公告)日：2024-09-19
申请号：US18183406
申请日：2023-03-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G01S17/89 , G06T7/13 , G06T7/50 , G06T7/70 , G06T2207/10028 , G06T2207/20084 , G06T2207/30252
Abstract: A sensor alignment method including detecting, detecting an object within a first sensor field of view and a second sensor field of view, detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance, aggregating the plurality of depth point clouds into an aggregated depth point cloud, detecting a first location of an edge of the object in response to the aggregated depth point cloud, detecting a second location of the edge of the object using an edge detection algorithm on the image, generating a lidar to camera alignment in response to a difference between the first location and the second location.
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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
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.
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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.
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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
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.
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公开(公告)号：US11892574B2
公开(公告)日：2024-02-06
申请号：US16944253
申请日：2020-07-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
IPC: G01S7/497 , G01S17/86 , G01S17/931 , G06T7/70
CPC classification number: G01S7/4972 , G01S17/86 , G01S17/931 , G06T7/70
Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.
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Patent Agency Ranking
公开(公告)号：US11836990B2
公开(公告)日：2023-12-05
申请号：US17655531
申请日：2022-03-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef Omar , Mark Wolski , Hao Yu , Wende Zhang
CPC classification number: G06V20/58 , B60W40/10 , B60W40/12 , G06T7/13 , G06T7/30 , G06T7/55 , B60W2420/42 , B60W2420/52
Abstract: Systems and methods for generating alignment parameters for processing data associated with a vehicle. In one embodiment, a method includes: receiving image data associated with an environment of the vehicle; receiving lidar data associated with the environment of the vehicle; processing, by a processor, the image data to determine data points associated with at least one vehicle identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one vehicle identified within the lidar data; selectively storing the data points in a data buffer based on at least one condition associated with a quality of the data points; processing, by the processor, the data points in the data buffer with a joint analysis method to generate alignment parameters between the lidar and the camera; and processing future data based on the alignment parameters.
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公开(公告)号：US20220035014A1
公开(公告)日：2022-02-03
申请号：US16944253
申请日：2020-07-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
IPC: G01S7/497 , G01S17/931 , G01S17/86
Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.
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公开(公告)号：US20200380725A1
公开(公告)日：2020-12-03
申请号：US16423821
申请日：2019-05-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Brian J. Hufnagel , Hao Yu , Wende Zhang
Abstract: In various embodiments, methods and systems are provided for calibrating vehicle cameras. In certain embodiments, a method includes obtaining a plurality of camera images from the camera based on a target positioned at a plurality of locations relative to the vehicle, wherein the target includes a plurality of dots arranged in rows and columns according to a random spacing, wherein the target further includes a plurality of enlarged dots arranged in an L shaped pattern in relation to a center of the target; estimating, by a processor, at least one of intrinsic parameters and extrinsic parameters based on the plurality of camera images; and storing, by a processor and in a data storage device, the at least one of intrinsic parameters and extrinsic parameters as calibration parameters associated with the camera.
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公开(公告)号：US12094220B2
公开(公告)日：2024-09-17
申请号：US17651405
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: G06V20/588 , B60W30/025 , B60W2420/403 , B60W2420/408 , B60W2552/53
Abstract: Methods and systems for a vehicle are provided. In one embodiment, the 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; 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, the ground normal vector based on a sliding widow method; 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.
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公开(公告)号：US20240276100A1
公开(公告)日：2024-08-15
申请号：US18169352
申请日：2023-02-15
Applicant: GM Global Technology Operations LLC
CPC classification number: H04N23/695 , G06T7/11 , G06V10/25 , G06V10/44 , G06V10/56 , G06V10/761 , G06T2207/10024 , G06T2207/30252
Abstract: A vehicle, system and method of aligning a first camera of the vehicle with a second camera of the vehicle. The system includes a processor configured to detect a first set of features in a first image obtained from the first camera, detect a second set of features in a second image obtained from the second camera, determine a first region of interest in the first image, determine a second region of interest in the second image, generate a feature pair by matching the first set of features to the second set of features using the first region of interest and the second region of interest, align the first camera with the second camera using the feature pair, and control an operation at the vehicle based on the alignment between the first camera and the second camera.
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