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公开(公告)号：US11333739B2
公开(公告)日：2022-05-17
申请号：US16801605
申请日：2020-02-26
Applicant: Magna Electronics Inc.
IPC: G01S7/40 , G01S13/931
Abstract: A method for calibrating a vehicular sensing system includes disposing the sensing system at a vehicle, with the sensing system including at least two radar sensors disposed at the vehicle so as to have respective fields of sensing exterior of the vehicle. At least one spherical radar reflector is disposed at a position exterior the vehicle where the fields of sensing of the at least two radar sensors overlap. A calibration mode of the sensing system is entered, and calibration radio waves are transmitted by at least one transmitter, and reflected calibration radio waves are received by receivers of the at least two radar sensors. The reflected calibration radio waves include the calibration radio waves reflected off the at least one spherical radar reflector. A controller calibrates the sensing system responsive to processing the received reflected calibration radio waves.
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公开(公告)号：US10885669B2
公开(公告)日：2021-01-05
申请号：US16658199
申请日：2019-10-21
Applicant: Magna Electronics Inc.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
Abstract: A method of calibrating a vehicular camera includes mounting a camera at a vehicle moving along a vehicle assembly line. Responsive to processing of image data captured by the camera, features at the ground adjacent to the vehicle are determined and the determined features are tracked over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path, a misalignment of the camera is determined. The misaligned camera is calibrated using an assumption that the determined ground features lie in a plane parallel to a planar portion of the ground surface adjacent the straight path portion of the vehicle assembly line. The determination of misalignment and the calibration of the camera are performed without use of a target pattern at the vehicle assembly line.
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公开(公告)号：US20200271755A1
公开(公告)日：2020-08-27
申请号：US16801605
申请日：2020-02-26
Applicant: Magna Electronics Inc.
IPC: G01S7/40 , G01S13/931
Abstract: A method for calibrating a vehicular sensing system includes disposing the sensing system at a vehicle, with the sensing system including at least two radar sensors disposed at the vehicle so as to have respective fields of sensing exterior of the vehicle. At least one spherical radar reflector is disposed at a position exterior the vehicle where the fields of sensing of the at least two radar sensors overlap. A calibration mode of the sensing system is entered, and calibration radio waves are transmitted by at least one transmitter, and reflected calibration radio waves are received by receivers of the at least two radar sensors. The reflected calibration radio waves include the calibration radio waves reflected off the at least one spherical radar reflector. A controller calibrates the sensing system responsive to processing the received reflected calibration radio waves.
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公开(公告)号：US10380765B2
公开(公告)日：2019-08-13
申请号：US15677452
申请日：2017-08-15
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jagmal Singh , Sebastian Pliefke
Abstract: A camera calibration system for a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. An image processor is operable to process image data captured by the cameras. The image processor is operable, via processing of image data captured by the cameras, to determine a change in orientation of at least one of the cameras. The image processor determines the change in orientation from a previous orientation during a previous ignition cycle of the vehicle and a current orientation at the onset of a current or subsequent ignition cycle of the vehicle.
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公开(公告)号：US20180197310A1
公开(公告)日：2018-07-12
申请号：US15914059
申请日：2018-03-07
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
CPC classification number: G06T7/80 , G06K9/00791 , G06T3/0062 , G06T5/006 , G06T2207/30208 , G06T2207/30252 , H04N7/181
Abstract: A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.
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Patent Agency Ranking
公开(公告)号：US20180053322A1
公开(公告)日：2018-02-22
申请号：US15677452
申请日：2017-08-15
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jagmal Singh , Sebastian Pliefke
CPC classification number: G06T7/80 , B60R1/00 , B60R1/12 , B60R2001/1253 , B60R2300/105 , B60R2300/303 , B60R2300/8093 , G06T7/73 , G06T2207/30244 , G06T2207/30252
Abstract: A camera calibration system for a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. An image processor is operable to process image data captured by the cameras. The image processor is operable, via processing of image data captured by the cameras, to determine a change in orientation of at least one of the cameras. The image processor determines the change in orientation from a previous orientation during a previous ignition cycle of the vehicle and a current orientation at the onset of a current or subsequent ignition cycle of the vehicle.
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公开(公告)号：US20140320658A1
公开(公告)日：2014-10-30
申请号：US14358232
申请日：2012-11-14
Applicant: MAGNA ELECTRONICS INC.
Inventor： Sebastian Pliefke
CPC classification number: H04N17/002 , B60R1/00 , B60R1/002 , B60R2300/105 , B60R2300/303 , B60R2300/304 , B60R2300/402 , B60R2300/607 , B60R2300/802 , G06T7/80 , G06T2207/10016 , G06T2207/30252 , H04N5/247 , H04N5/265
Abstract: A camera calibration system for calibrating cameras of a vehicle includes at least one reconfigurable calibration target established or disposed at a ground area at which a vehicle is positioned for a camera calibrating procedure. The camera calibration system is operable, responsive to an input indicative of a type or size of the vehicle positioned at the ground area, to reconfigure the at least one reconfigurable calibration target to adapt the calibration target for the particular type or size of the vehicle positioned thereat. The camera calibration system may reconfigure at least one of a size of the target and a location of the target. The camera calibration system may reconfigure the target via a covering element that selectively exposes a portion of the reconfigurable calibration target and covers another portion of the reconfigurable calibration target.
Abstract translation: 用于校准车辆的相机的相机校准系统包括建立或设置在车辆定位的地面区域处的至少一个可重新配置的校准目标，用于相机校准过程。 相机校准系统可操作地响应于指示位于地面区域的车辆的类型或尺寸的输入，以重新配置至少一个可重新配置的校准目标，以使校准目标适合于定位的车辆的特定类型或尺寸 那里 相机校准系统可以重新配置目标的大小和目标的位置中的至少一个。 相机校准系统可以经由覆盖元件来重新配置目标，所述覆盖元件选择性地暴露可重新配置的校准目标的一部分并覆盖可重构校准目标的另一部分。
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公开(公告)号：US11555888B2
公开(公告)日：2023-01-17
申请号：US17247965
申请日：2021-01-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Sebastian Pliefke , Jagmal Singh , Sergio D. Biarge
IPC: G01S7/40 , G01S13/931 , G01S13/42
Abstract: A method for calibrating a vehicular radar sensing system includes disposing two spaced apart calibrating radars at respective transmitting locations that are spaced from a vehicle calibration location at an end of line portion of a vehicle assembly line, and moving a vehicle along the vehicle assembly line, the vehicle including an electronic control unit (ECU) and a vehicular radar operable to sense exterior of the vehicle. Signals are transmitted via the first and second calibrating radars at the transmitting locations and, with the vehicle at the vehicle calibration location, the plurality of radar receivers of the vehicular radar receive the transmitted signals transmitted by the first and second calibrating radars, and the vehicular radar generates an output that is processed at the ECU. Responsive to processing at the ECU of the output of the vehicular radar, misalignment of the vehicular radar at the vehicle is determined.
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公开(公告)号：US20220146626A1
公开(公告)日：2022-05-12
申请号：US17648835
申请日：2022-01-25
Applicant: Magna Electronics Inc.
Inventor： Helmut A. Wodrich , Holger Hess , Sebastian Pliefke , Walter G. Woodington
IPC: G01S7/40 , G01S13/931 , G01S13/86 , G01S13/87
Abstract: A method includes disposing a spherical radar reflector at a location exterior a vehicle equipped with the vehicular sensing system. The vehicular sensing system includes at least two radar sensors disposed at the vehicle and a controller that processes received radio frequency (RF) signals received by the plurality of receivers of each radar sensor of the at least two radar sensors. Calibration RF signals are transmitted by at least one transmitting antenna of a plurality of transmitters of a first radar sensor and a second radar sensor the at least two radar sensors, and reflected first calibration RF signals are received by the plurality of receivers of the first radar sensor and the second radar sensor. Based on a distance between the first radar sensor, the second radar sensor, and the spherical reflector, the vehicular sensing system determines an orientation of the first radar sensor and the second radar sensor.
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公开(公告)号：US20210125376A1
公开(公告)日：2021-04-29
申请号：US17247967
申请日：2021-01-04
Applicant: Magna Electronics Inc.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
Abstract: A method of calibrating a vehicular vision system includes mounting a camera at a vehicle moving along a vehicle assembly line. Responsive to processing of image data captured by the camera, ground features adjacent to the vehicle are determined and the determined ground features are tracked over two or more frames of captured image data using optical flow. A misalignment of the camera is determined via tracking the determined ground features as the vehicle moves along the straight path portion of the end of line test portion of the vehicle assembly line. Responsive to determination of misalignment of the camera at the vehicle, the vehicular vision system is calibrated using an assumption that the determined ground features lie in a plane parallel to a planar portion of a ground surface adjacent the straight path portion of the end of line test portion of the vehicle assembly line.
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