公开(公告)号：US09066085B2

公开(公告)日：2015-06-23

申请号：US13713445

申请日：2012-12-13

Applicant: DELPHI TECHNOLOGIES, INC.

Inventor： Charles A. Cluff ,  Ronald M. Taylor

IPC: H04N13/02 ,  G06T7/00

CPC classification number: H04N13/246 ,  G06T7/85 ,  G06T2207/10021 ,  G06T2207/30252

Abstract: A system, controller, and method for aligning a stereo camera of a vehicle mounted object detection system that includes a first camera and a second camera mounted spaced apart on a vehicle. An image from each camera at two different times is used to determine an observed displacement of an object relative to the vehicle. A predicted displacement of the object relative to the vehicle is also determined using either a difference of vehicle position measured based on other vehicle measurements or GPS, or a difference of size of the object in images taken at the two different times. Alignment is provided by determining a triangulation correction based on a difference of the observed displacement and the predicted displacement to correct for misalignment of the cameras.

Abstract translation: 一种用于对准车载物体检测系统的立体照相机的系统，控制器和方法，其包括第一照相机和安装在车辆上间隔开的第二照相机。 使用来自两个不同时间的每个照相机的图像来确定物体相对于车辆的观察到的位移。 还可以使用基于其他车辆测量值或GPS测量的车辆位置的差异，或者在两个不同时间拍摄的图像中的物体的尺寸差来确定物体相对于车辆的预测位移。 通过基于观察到的位移和预测位移的差异来确定三角测量校正来校正摄像机的未对准来提供对准。

公开(公告)号：US20140168377A1

公开(公告)日：2014-06-19

申请号：US13713445

申请日：2012-12-13

Applicant: DELPHI TECHNOLOGIES, INC.

Inventor： Charles A. Cluff ,  Ronald M. Taylor

IPC: H04N13/02

CPC classification number: H04N13/246 ,  G06T7/85 ,  G06T2207/10021 ,  G06T2207/30252

Abstract: A system, controller, and method for aligning a stereo camera of a vehicle mounted object detection system that includes a first camera and a second camera mounted spaced apart on a vehicle. An image from each camera at two different times is used to determine an observed displacement of an object relative to the vehicle. A predicted displacement of the object relative to the vehicle is also determined using either a difference of vehicle position measured based on other vehicle measurements or GPS, or a difference of size of the object in images taken at the two different times. Alignment is provided by determining a triangulation correction based on a difference of the observed displacement and the predicted displacement to correct for misalignment of the cameras.

Abstract translation: 一种用于对准车载物体检测系统的立体照相机的系统，控制器和方法，其包括第一照相机和安装在车辆上间隔开的第二照相机。 使用来自两个不同时间的每个照相机的图像来确定物体相对于车辆的观察到的位移。 还可以使用基于其他车辆测量值或GPS测量的车辆位置的差异，或者在两个不同时间拍摄的图像中的物体的尺寸差来确定物体相对于车辆的预测位移。 通过基于观察到的位移和预测位移的差异来确定三角测量校正来校正摄像机的未对准来提供对准。