公开(公告)号：US12277732B2

公开(公告)日：2025-04-15

申请号：US18147267

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Yun Ji ,  Zhenwei Yu

IPC: G06T7/80 ,  G06T7/70 ,  G06T7/73

Abstract: In one embodiment, a system captures a first frame and a second frame for an environment of an autonomous driving vehicle (ADV) from at least a first and a second cameras mounted on the ADV. The system determines at least two points in the first frame having corresponding points in the second frame. The system determines distance and angle measurement information from the first camera to the at least two points and from the second camera to the corresponding points. The system determines actual positioning angles of the first and second cameras with respect to an orientation of the ADV based on the distance and angle measurement information and pixel information in the first and second frames. The actual positioning angles are used to compensate misalignments in positioning angles for the first and second cameras.

公开(公告)号：US20240221218A1

公开(公告)日：2024-07-04

申请号：US18147267

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Yun Ji ,  Zhenwei Yu

IPC: G06T7/80

CPC classification number: G06T7/80 ,  G06T2207/20221 ,  G06T2207/30204 ,  G06T2207/30261

Abstract: In one embodiment, a system captures a first frame and a second frame for an environment of an autonomous driving vehicle (ADV) from at least a first and a second cameras mounted on the ADV. The system determines at least two points in the first frame having corresponding points in the second frame. The system determines distance and angle measurement information from the first camera to the at least two points and from the second camera to the corresponding points. The system determines actual positioning angles of the first and second cameras with respect to an orientation of the ADV based on the distance and angle measurement information and pixel information in the first and second frames. The actual positioning angles are used to compensate misalignments in positioning angles for the first and second cameras.