公开(公告)号：US20230215026A1

公开(公告)日：2023-07-06

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: G06T7/33 ,  H04N5/247 ,  H04N5/262 ,  G06T7/246 ,  G06V20/56 ,  G06T7/55 ,  G06T7/80 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G01S17/89 ,  G01S17/931

CPC classification number: G06T7/33 ,  H04N5/247 ,  H04N5/2625 ,  G06T7/246 ,  G06V20/56 ,  G06T7/55 ,  G06T7/80 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G01S17/89 ,  G01S17/931 ,  G06T2207/30252 ,  G06T2207/20212 ,  G06T2207/10028 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/35

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 (3D) 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：US20230059883A1

公开(公告)日：2023-02-23

申请号：US17408758

申请日：2021-08-23

Applicant: GM Global Technology Operations LLC

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

IPC: G01S17/931 ,  G06K9/46 ,  G06K9/62 ,  G01S17/89 ,  B60W40/06

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 feature points among the points of the point cloud, the feature points being horizontal feature points reflected from a horizontal surface or vertical feature points reflected from a vertical surface. The processing circuitry processes the point cloud by obtaining a normal vector corresponding to each of the points of the point cloud. The normal vector includes a first component associated with a first dimension, a second component associated with a second dimension, and a third component associated with a third dimension.

公开(公告)号：US11428541B1

公开(公告)日：2022-08-30

申请号：US17329613

申请日：2021-05-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohsen Khalili ,  Hao Yu ,  Wende Zhang

IPC: G01C25/00 ,  G06T7/70

Abstract: A calibration system for a camera and an inertial sensor, respectively rigidly affixed to a vehicle, includes a controller having a processor and tangible, non-transitory memory on which instructions are recorded. The camera is adapted to capture one or more images and the inertial sensor is adapted to obtain motion data, including an angular velocity vector of the vehicle. The controller is configured to receive respective data from the camera and the inertial sensor. The controller is configured to perform adaptive feature selection on the one or more images, including extracting one or more regions of interest respectively from the images and calculating a respective optimal quality level for each of the regions of interest. The camera is aligned to the inertial sensor based in part on the adaptive feature selection and the respective data from the inertial sensor.

公开(公告)号：US20210335007A1

公开(公告)日：2021-10-28

申请号：US16859436

申请日：2020-04-27

Applicant: GM Global Technology Operations LLC

Inventor： Wende Zhang ,  Fred W. Huntzicker ,  Hao Yu

IPC: G06T7/80 ,  G06T7/73

Abstract: A system and method to perform automatic alignment of an optical sensor of a vehicle involve disposing two or more active targets at known locations in an alignment station. Each of the two or more active targets have at least two visibly different states. The method includes coding a change among the at least two visibly different states for the two or more active targets. Images obtained by the optical sensor of the two or more active targets are processed to identify features and perform the alignment of the optical sensor with another sensor of the vehicle or with the vehicle.