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公开(公告)号：US20230326077A1
公开(公告)日：2023-10-12
申请号：US17719151
申请日：2022-04-12
Applicant: GM Global Technology Operations LLC
CPC classification number: G06T7/80 , G06V10/40 , B60W40/04 , G06T2207/30252 , B60W2420/42
Abstract: A vehicle, a system and a method of navigating the vehicle. The system includes a camera conveyed by the vehicle and a processor. The camera is configured to obtain an original image data file of an environment. The processor is configured to reduce the original image data file to obtain a reduced image data file and determine an alignment between a camera-centered coordinate system and a ground coordinate system using the reduced image data file.
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公开(公告)号：US20230260157A1
公开(公告)日：2023-08-17
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 , G06V10/40 , G06V10/22 , G06T7/73 , G06T2207/30252 , G06T2207/30244
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：US20230046232A1
公开(公告)日：2023-02-16
申请号：US17400529
申请日：2021-08-12
Applicant: GM Global Technology Operations LLC
Inventor： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
IPC: G01S7/497 , G01S17/86 , G01S17/931
Abstract: A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, a camera to obtain camera data in a camera coordinate system, and processing circuitry to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the camera data.
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公开(公告)号：US12270908B2
公开(公告)日：2025-04-08
申请号：US17516318
申请日：2021-11-01
Applicant: GM Global Technology Operations LLC
Inventor： Yao Hu , Xinyu Du , Wende Zhang , Hao Yu
Abstract: A system in a vehicle includes a lidar system to transmit incident light and receive reflections from one or more objects as a point cloud of points. The system also includes processing circuitry to identify planar points and to identify edge points of the point cloud. Each set of planar points forms a linear pattern and each edge point is between two sets of planar points, and the processing circuitry identifies each point of the points of the point cloud as being within a virtual beam among a set of virtual beams. Each virtual beam of the set of virtual beams representing a horizontal band of the point cloud.
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公开(公告)号：US12174301B2
公开(公告)日：2024-12-24
申请号：US17350780
申请日：2021-06-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yao Hu , Xinyu Du , Wende Zhang , Hao Yu
IPC: G01S17/931 , B60W60/00
Abstract: A LIDAR-to-LIDAR alignment system includes a memory and an autonomous driving module. The memory stores first and second points based on outputs of first and second LIDAR sensors. The autonomous driving module performs a validation process to determine whether alignment of the LIDAR sensors satisfy an alignment condition. The validation process includes: aggregating the first and second points in a vehicle coordinate system to provide aggregated LIDAR points; based on the aggregated LIDAR points, performing (i) a first method including determining pitch and roll differences between the first and second LIDAR sensors, (ii) a second method including determining a yaw difference between the first and second LIDAR sensors, or (iii) point cloud registration to determine rotation and translation differences between the first and second LIDAR sensors; and based on results of the first method, the second method or the point cloud registration, determining whether the alignment condition is satisfied.
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Patent Agency Ranking
公开(公告)号：US20240404107A1
公开(公告)日：2024-12-05
申请号：US18328862
申请日：2023-06-05
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Hongtao Wang , Wende Zhang , Hao Yu
Abstract: Methods, apparatus, and systems for sensor alignment include acquiring a translational vector, a first calibration point location and a second calibration point location, determining an expected rotational orientation in response to the translational vector, the first calibration point location and the second calibration point location, capturing an image of the a first calibration point and the second calibration point, determining a first position of the first calibration point and a second position of the second calibration point in response to the image, calculating a calculated rotational orientation in response to the first position of the first calibration point and the second position of the second calibration point, determining a calibration value in response to the calculated rotational orientation, storing the calibration value and controlling a vehicle in response to the calibration value and a subsequent image.
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公开(公告)号：US12112506B2
公开(公告)日：2024-10-08
申请号：US17688157
申请日：2022-03-07
Applicant: GM Global Technology Operations LLC
Inventor： Farui Peng , Hao Yu
CPC classification number: G06T7/80 , G06T7/246 , G06T7/292 , G06T7/73 , G06T2207/30248
Abstract: A system for determining calibrated camera extrinsic parameters for an autonomous vehicle includes a camera mounted to the autonomous vehicle collecting image data including a plurality of image frames. The system also includes one or more automated driving controllers in electronic communication with the camera that executes instructions to determine a vehicle pose estimate based on position and movement of the autonomous vehicle by a localization algorithm. The one or more automated driving controllers determine the calibrated camera extrinsic parameters based on three dimensional coordinates for specific feature points of interests corresponding to two sequential image frames, the specific feature points of interests corresponding to the two sequential image frames, and the camera pose corresponding to the two sequential image frames.
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公开(公告)号：US20240312059A1
公开(公告)日：2024-09-19
申请号：US18183423
申请日：2023-03-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hongtao Wang , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G01S7/497 , G01S17/89 , G06T7/70 , G06V20/56 , G06T2207/10028 , G06T2207/30252
Abstract: Method for sensor alignment including detecting a depth point cloud including a first object and a second object, generating a first control point in response to a location of the first object within the depth point cloud and a second control point in response to a location of the second object within the depth point cloud, capturing an image of a second field of view including a third object, generating a third control point in response to a location of the third object detected in response to the image, calculating a first reprojection error in response to the first control point and the third control point and a second reprojection error in response to the second control point and the third control point, generating an extrinsic parameter in response to the first reprojection error in response to the first reprojection error being less than the second reprojection error.
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公开(公告)号：US20240095061A1
公开(公告)日：2024-03-21
申请号：US17947244
申请日：2022-09-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Guanlun He , Yao Hu , Binbin Li , Hao Yu
Abstract: A computer-implemented method for aligning a sensor to reference coordinate system includes initiating a plurality of threads, each thread executes simultaneously and independent of each other. A first thread parses data received from the sensor and stores the parsed data in a data buffer. A second thread computes an alignment transformation using the parsed data to determine alignment between the sensor and the reference coordinate system. The computing includes checking that the data buffer contains at least predetermined amount of data. If at least the predetermined amount of data exists, an intermediate result is computed using the parsed data in the data buffer; otherwise, the second thread waits for the first thread to add more data to the data buffer. The second thread outputs the intermediate result into the data buffer. A third thread outputs the alignment transformation, in response to completion of alignment computations.
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公开(公告)号：US20230298355A1
公开(公告)日：2023-09-21
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 , G06T7/13 , G06T7/55 , G06T7/30 , B60W40/10 , B60W40/12 , B60W2420/52 , B60W2420/42
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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