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公开(公告)号：US10179543B2
公开(公告)日：2019-01-15
申请号：US14191512
申请日：2014-02-27
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.
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公开(公告)号：US20220089088A1
公开(公告)日：2022-03-24
申请号：US17457701
申请日：2021-12-06
Applicant: Magna Electronics Inc.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.
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公开(公告)号：US11007934B2
公开(公告)日：2021-05-18
申请号：US15929460
申请日：2020-05-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
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公开(公告)号：US10780827B2
公开(公告)日：2020-09-22
申请号：US16693515
申请日：2019-11-25
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.
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公开(公告)号：US20140247352A1
公开(公告)日：2014-09-04
申请号：US14191512
申请日：2014-02-27
Applicant: Magna Electronics Inc.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
CPC classification number: B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06T3/4038 , H04N5/2258 , H04N5/23229
Abstract: A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.
Abstract translation: 用于拼接由车辆的视觉系统的多个摄像机捕获的图像的动态图像拼接系统包括设置在车辆处并且具有车辆外部的第一视野的第一照相机和设置在车辆处的第二照相机，并且具有第二场 的外观车辆。 第一和第二视野至少部分重叠。 处理器可操作以处理由第一和第二相机捕获的图像数据。 处理器处理捕获的图像数据以确定存在于第一和第二视场的重叠区域中的特征或物体的特征。 处理器可操作以响应于确定由第一相机拍摄的特征的特征与由第二相机拍摄的特征的特征之间的差异来调整拼接算法。
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Patent Agency Ranking
公开(公告)号：US11572015B2
公开(公告)日：2023-02-07
申请号：US17457701
申请日：2021-12-06
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.
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公开(公告)号：US11192500B2
公开(公告)日：2021-12-07
申请号：US16948474
申请日：2020-09-21
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching image data captured by multiple vehicular cameras includes equipping a vehicle with a vehicular vision system having a control and a plurality of cameras disposed at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect and track an object present in and moving within an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a feature of a detected and tracked object as captured by the first camera and the feature of the detected and tracked object as captured by the second camera.
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公开(公告)号：US20210268962A1
公开(公告)日：2021-09-02
申请号：US17302933
申请日：2021-05-17
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A vehicular vision system includes a camera disposed at a vehicle and operable to capture multiple frames of image data during a driving maneuver of the vehicle. A control includes an image processor that processes frames of captured image data to determine feature points in an image frame when the vehicle is operated within a first range of steering angles, and to determine motion trajectories of those feature points in subsequent image frames for the respective range of steering angles. The control determines a horizon line based on the determined motion trajectories. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
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公开(公告)号：US20200101899A1
公开(公告)日：2020-04-02
申请号：US16693515
申请日：2019-11-25
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.
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公开(公告)号：US20160267657A1
公开(公告)日：2016-09-15
申请号：US15161711
申请日：2016-05-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
CPC classification number: B60R1/00 , B60R2300/105 , B60R2300/402 , B60R2300/8086 , B60R2300/8093 , G06T7/80 , G06T2207/30252 , H04N17/00 , H04N17/002
Abstract: A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data whilst the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set's feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.
Abstract translation: 用于动态校正车辆摄像机的未对准的方法包括在车辆处固定地设置摄像机并且操作摄像机以在车辆大体上以直线移动时获取多帧图像数据。 在图像帧中选择多组特征点，其中每个集合包括第一特征点和第二特征点。 对于每组特征点，该集合的特征点的运动轨迹在随后的图像帧中被跟踪。 对于每个跟踪的第一和第二特征点，在图像平面中建立消失点。 基于已建立的消失点，在图像平面中确定消失线。 当消失线在图像平面中被确定为非水平时，调整照相机的俯仰，滚动或偏转中的至少一个以校正照相机的旋转未对准。
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