公开(公告)号：US09225942B2

公开(公告)日：2015-12-29

申请号：US13836557

申请日：2013-03-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Bakhtiar Brian Litkouhi ,  Kent S. Lybecker ,  Ryan M. Frakes

IPC: H04N7/18 ,  B60R1/00 ,  G06T3/00

CPC classification number: G06T3/0062 ,  B60R1/00 ,  B60R2300/10 ,  B60R2300/306 ,  B60R2300/802 ,  B60R2300/8093 ,  G06T3/0018 ,  G06T7/75 ,  G06T2207/30244 ,  G06T2207/30264 ,  H04N5/23238 ,  H04N7/18

Abstract: A method for displaying a captured image on a display device. A real image is captured by a vision-based imaging device. A virtual image is generated from the captured real image based on a mapping by a processor. The mapping utilizes a virtual camera model with a non-planar imaging surface. Projecting the virtual image formed on the non-planar image surface of the virtual camera model to the display device.

Abstract translation: 一种用于在显示装置上显示拍摄图像的方法。 基于视觉的成像设备捕获真实的图像。 基于处理器的映射，从捕获的真实图像生成虚拟图像。 该映射利用具有非平面成像表面的虚拟相机模型。 将形成在虚拟相机模型的非平面图像表面上的虚像映射到显示装置。

公开(公告)号：US20140114534A1

公开(公告)日：2014-04-24

申请号：US13835741

申请日：2013-03-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Kent S. Lybecker ,  Jeffrey S. Piasecki ,  James Clem ,  Charles A. Green ,  Ryan M. Frakes ,  Travis S. Hester

IPC: B60R1/02

CPC classification number: B60R1/02 ,  B60R1/00 ,  B60R2001/1253 ,  B60R2300/30 ,  G06T3/4038 ,  H04N5/217 ,  H04N5/23238

Abstract: A method for displaying a captured image on a display device. A scene is captured by at least one vision-based imaging device. A virtual image of the captured scene is generated by a processor using a camera model. A view synthesis technique is applied to the captured image by the processor for generating a de-warped virtual image. A dynamic rearview mirror display mode is actuated for enabling a viewing mode of the de-warped image on the rearview mirror display device. The de-warped image is displayed in the enabled viewing mode on the rearview mirror display device.

Abstract translation: 一种用于在显示装置上显示拍摄图像的方法。 由至少一个基于视觉的成像装置拍摄场景。 捕获的场景的虚拟图像由使用相机模型的处理器生成。 视频合成技术被处理器应用于捕获的图像，用于生成去翘曲的虚像。 启动动态后视镜显示模式，以使后视镜显示装置上的去翘曲图像的观看模式能够观看。 逆视图像在后视镜​​显示设备的显示模式下显示。

公开(公告)号：US20140111637A1

公开(公告)日：2014-04-24

申请号：US13962156

申请日：2013-08-08

Applicant: GM Global Technology Operations LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Kent S. Lybecker ,  Jeffrey S. Piasecki ,  James Clem ,  Charles A. Green ,  Ryan M. Frakes ,  Travis S. Hester

IPC: H04N5/243

CPC classification number: H04N5/243 ,  B60R1/00 ,  B60R1/088 ,  B60R2300/105

Abstract: A vehicle imaging system includes an image capture device capturing an image exterior of a vehicle. The captured image includes at least a portion of a sky scene. A processor generates a virtual image of a virtual sky scene from the portion of the sky scene captured by the image capture device. The processor determines a brightness of the virtual sky scene from the virtual image. The processor dynamically adjusts a brightness of the captured image based the determined brightness of the virtual image. A rear view mirror display device displays the adjusted captured image.

Abstract translation: 车辆成像系统包括捕获车辆外观的图像拍摄装置。 捕获的图像包括天空场景的至少一部分。 处理器从由图像捕获装置捕获的天空场景的部分生成虚拟天空场景的虚拟图像。 处理器从虚拟图像确定虚拟天空场景的亮度。 处理器基于确定的虚拟图像的亮度动态地调整拍摄图像的亮度。 后视镜显示装置显示调整后的拍摄图像。

公开(公告)号：US12061255B2

公开(公告)日：2024-08-13

申请号：US17511942

申请日：2021-10-27

Applicant: GM Global Technology Operations LLC

Inventor： Kamran Ali ,  Wende Zhang ,  Fan Bai

IPC: G01S13/931 ,  B60W50/00 ,  B60W60/00 ,  G01S13/89

CPC classification number: G01S13/931 ,  B60W50/00 ,  B60W60/001 ,  G01S13/89 ,  B60W2050/0088 ,  B60W2420/408

Abstract: A scan matching and radar pose estimator for determining a final radar pose for an autonomous vehicle includes an automated driving controller that is instructed to determine a hyper-local submap based on a predefined number of consecutive aggregated filtered data point cloud scans and associated pose estimates. The automated driving controller determines an initial estimated pose by aligning a latest aggregated filtered data point cloud scan with the most recent hyper-local submap based on an iterative closest point (ICP) alignment algorithm. The automated driving controller determines a pose graph based on the most recent hyper-local submap and neighboring radar point cloud scans, and executes a multi-view non-linear ICP algorithm to adjust initial estimated poses corresponding to the neighboring radar point cloud scans in a moving window fashion to determine a locally adjusted pose.

公开(公告)号：US12043269B2

公开(公告)日：2024-07-23

申请号：US17651406

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G06V20/58 ,  B60W40/10

CPC classification number: B60W40/10 ,  G06V20/58 ,  B60W2420/403 ,  B60W2552/53

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; receiving vehicle data indicating a velocity of the vehicle, wherein the vehicle data is associated with the image data; determining, by a processor, feature points within at least one image based on the vehicle data and a three dimensional projection method; 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, 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.

公开(公告)号：US12010461B2

公开(公告)日：2024-06-11

申请号：US17848867

申请日：2022-06-24

Applicant: GM Global Technology Operations LLC

Inventor： Esther Anderson ,  Jace C. Stokes ,  Fan Bai ,  Chuan Li ,  Mark T. Gaylord ,  Wende Zhang ,  Paul Andrew Justin

IPC: H04N7/18 ,  B60R1/22 ,  B60R11/00 ,  B60R11/04

CPC classification number: H04N7/181 ,  B60R1/22 ,  B60R2011/0078 ,  B60R11/04

Abstract: A multimedia system is provided for a scalable infotainment system of a motor vehicle. The scalable infotainment system includes a camera, which is releasably attached to the motor vehicle and supports camera software components for generating a media signal. The multimedia system includes a media player and a computer attached to the motor vehicle. The computer has a processor and a non-transitory computer readable storage medium, which stores player software components including multiple streaming protocols used by the media player to play a media stream. The processor is programmed to transmit to the camera a player setup signal including data associated with the player software components. The processor is further programmed to receive from the camera a media signal associated with a media stream generated by the camera by using a common one of the streaming protocols supported by the camera and the media player.

公开(公告)号：US20230421726A1

公开(公告)日：2023-12-28

申请号：US17848867

申请日：2022-06-24

Applicant: GM Global Technology Operations LLC

Inventor： Esther Anderson ,  Jace C. Stokes ,  Fan Bai ,  Chuan Li ,  Mark T. Gaylord ,  Wende Zhang ,  Paul Andrew Justin

IPC: H04N7/18 ,  B60R1/22

CPC classification number: H04N7/181 ,  B60R1/22 ,  B60R11/04

Abstract: A multimedia system is provided for a scalable infotainment system of a motor vehicle. The scalable infotainment system includes a camera, which is releasably attached to the motor vehicle and supports camera software components for generating a media signal. The multimedia system includes a media player and a computer attached to the motor vehicle. The computer has a processor and a non-transitory computer readable storage medium, which stores player software components including multiple streaming protocols used by the media player to play a media stream. The processor is programmed to transmit to the camera a player setup signal including data associated with the player software components. The processor is further programmed to receive from the camera a media signal associated with a media stream generated by the camera by using a common one of the streaming protocols supported by the camera and the media player.

公开(公告)号：US20230306621A1

公开(公告)日：2023-09-28

申请号：US17655888

申请日：2022-03-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yousef Omar ,  Wende Zhang ,  Hao Yu

IPC: G06T7/37 ,  G06K9/62 ,  G06V20/58 ,  G01S17/89 ,  G01S17/87 ,  B60R1/22

CPC classification number: G06T7/37 ,  B60R1/22 ,  G01S17/87 ,  G01S17/89 ,  G06K9/6226 ,  G06K9/6289 ,  G06V20/58 ,  G06T2207/20081 ,  G06T2207/30252

Abstract: Systems and methods are provided 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 pole identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one pole identified within the lidar data; selectively storing the data points as data point pairs in a data buffer; iteratively processing, by the processor, the data point pairs with a plurality of perturbations to determine a transformation matrix; generating, by the processor, alignment data based on the transformation matrix; and processing future data based on the alignment parameters.

公开(公告)号：US20230147739A1

公开(公告)日：2023-05-11

申请号：US17523222

申请日：2021-11-10

Applicant: GM Global Technology Operations LLC

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

IPC: G01S7/497 ,  G01S17/931 ,  H04W4/44

CPC classification number: G01S7/4972 ,  G01S17/931 ,  H04W4/44

Abstract: A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, and processing circuitry to obtain the lidar data and localization data. The localization data indicates a location and orientation of the vehicle. The processing circuitry automatically determines 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 localization data.

公开(公告)号：US20230135965A1

公开(公告)日：2023-05-04

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

IPC: G01S17/89 ,  B60W40/10

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.