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公开(公告)号：US12225321B2
公开(公告)日：2025-02-11
申请号：US18244884
申请日：2023-09-11
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang , Marco Antonio Gaxiola Michel , Daniel Chou
Abstract: The present technology is directed to determining an accuracy of an infrared (IR) camera, and more particularly, validating a distortion accuracy of an IR camera. The present technology can receive one or more images of a calibration harp captured by the IR camera, wherein the one or more images include a plurality of lines corresponding to a plurality of strings of the calibration harp. The present technology can further determine a degree of distortion of the plurality of lines based on a distortion error coefficient, wherein the distortion error coefficient is computed based on edge points of the plurality of lines on the one or more images.
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公开(公告)号：US20230171375A1
公开(公告)日：2023-06-01
申请号：US17537009
申请日：2021-11-29
Applicant: GM CRUISE HOLDINGS LLC
Inventor： Yongjun Wang , Marco Antonio Gaxiola Michel , Daniel Chou
CPC classification number: H04N5/33 , H04N5/2178 , H04N5/208
Abstract: The present technology is directed to determining an accuracy of an infrared (IR) camera, and more particularly, validating a distortion accuracy of an IR camera. The present technology can receive one or more images of a calibration harp captured by the IR camera, wherein the one or more images include a plurality of lines corresponding to a plurality of strings of the calibration harp. The present technology can further determine a degree of distortion of the plurality of lines based on a distortion error coefficient, wherein the distortion error coefficient is computed based on edge points of the plurality of lines on the one or more images.
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公开(公告)号：US20210303898A1
公开(公告)日：2021-09-30
申请号：US16834900
申请日：2020-03-30
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang , Derek Wu , Ankit Rohatgi
Abstract: A sensor calibration target includes dark markings on a light substrate. The dark markings absorb more heat from a heat source than the light substrate, and are visually distinguishable from the light substrate. Thus, the dark markings are discernable by the both a camera and an infrared sensor of a vehicle during vehicle sensor calibration. The sensor calibration target may otherwise non-metallic but include a metallic feature for calibrating a radio detection and ranging (RADAR) sensor. The sensor calibration target may also include one or more apertures in the substrate for calibrating a light detection and ranging (LIDAR) sensor.
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公开(公告)号：US12151622B2
公开(公告)日：2024-11-26
申请号：US17891758
申请日：2022-08-19
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang
IPC: B60R11/04 , G01S7/02 , G01S7/40 , G01S7/481 , G01S7/497 , G05D1/00 , G06T7/50 , G06T7/80 , H04N23/54
Abstract: A polyhedral sensor target includes multiple surfaces. A housing, such as a vehicle, may include a camera and a distance measurement sensor, such as a light detection and ranging (LIDAR) sensor. The housing may move between different positions during calibration, for instance by being rotated atop a turntable. The camera and distance measurement sensor may both capture data during calibration, from which visual and distance measurement representations of the polyhedral sensor target are identified. The camera and distance measurement sensor are calibrated based on their respective representations, for example by mapping vertices within the representations to the same location.
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公开(公告)号：US11587258B1
公开(公告)日：2023-02-21
申请号：US17523152
申请日：2021-11-10
Applicant: GM CRUISE HOLDINGS LLC
Inventor： Yongjun Wang , Daniel Chou , Nigel Rodrigues
Abstract: A computer-implemented method for focal length validation may include receiving, by a computing system, initial image data for an optical target from a camera. The method may also include determining a distortion parameter associated with the camera, based on the initial image data. The method may also include receiving, by the computing system, a first image of the optical target, wherein the first image is associated with a first position of the camera. The method may also include receiving, by the computing system, a second image of the optical target, wherein the second image is associated with a second position of the camera. The method may also include determining an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image. The method may further include determining a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.
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Patent Agency Ranking
公开(公告)号：US20230186518A1
公开(公告)日：2023-06-15
申请号：US17550437
申请日：2021-12-14
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Yongjun Wang , Nigel Rodrigues
CPC classification number: G06T7/80 , G06T7/70 , G06T2207/10028 , G06T2207/10048
Abstract: To calibrate a set of sensors with respect to one another, such as the respective position and orientation of the sensors, a sensor calibration system uses a well-measured calibration scene in which the objects within the calibration scene have established positions, and optionally orientations (e.g., rotational directions), within the calibration scene and with respect to one another. The calibration scene is captured by a set of sensors to generate respective sensor views of the scene. Each sensor view is analyzed to detect control objects (e.g., features thereof) with respect to the coordinates of each sensor view. Using the known relationship of the calibration objects within the calibration scene, the sensors are calibrated to determine calibration parameters for a joint coordinate system that the maps the detected positions in the sensor view with the relative positions of the measured calibration scene.
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公开(公告)号：US20210316669A1
公开(公告)日：2021-10-14
申请号：US16848277
申请日：2020-04-14
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang
Abstract: A polyhedral sensor target includes multiple surfaces. A housing, such as a vehicle, may include a camera and a distance measurement sensor, such as a light detection and ranging (LIDAR) sensor. The housing may move between different positions during calibration, for instance by being rotated atop a turntable. The camera and distance measurement sensor may both capture data during calibration, from which visual and distance measurement representations of the polyhedral sensor target are identified. The camera and distance measurement sensor are calibrated based on their respective representations, for example by mapping vertices within the representations to the same location.
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公开(公告)号：US20230185085A1
公开(公告)日：2023-06-15
申请号：US17550674
申请日：2021-12-14
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Yongjun Wang , Nigel Rodrigues
CPC classification number: G02B27/0025 , G02B6/001
Abstract: Apparatus and methods are provided for using a self-illuminating harp to calibrate for distortion. In particular, apparatus, methods and systems are provided for imaging and analyzing self-illuminated harp in order to correct for lens distortion. In various implementations, an array of media is strung plumb which resembles a harp. The media can be light fibers or other suitable material which can be strung in a straight line. The cores of translucent fibers are illuminated. These are configured to scatter light throughout their bulk which escapes the core by egressing along the length of fiber. This light produces plumb lines which can be imaged, analyzed and model. In some implementations, imaging is performed by rotation to include a full FOV.
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公开(公告)号：US20230147966A1
公开(公告)日：2023-05-11
申请号：US18095581
申请日：2023-01-11
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang , Daniel Chou , Nigel Rodrigues
CPC classification number: G06T7/80 , G01S17/08 , G01S17/86 , H04N17/002 , G06T5/006 , G06T2207/30244
Abstract: A computer-implemented method includes receiving, by a computing system, a first image of an optical target from a camera. The first image is associated with a first position of the camera. The method also includes receiving, by the computing system, a second image of the optical target, Wherein the second image is associated with a second position of the camera. The method also includes determining an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image. The method further includes determining a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.
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公开(公告)号：US20220402444A1
公开(公告)日：2022-12-22
申请号：US17891758
申请日：2022-08-19
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang
Abstract: A polyhedral sensor target includes multiple surfaces. A housing, such as a vehicle, may include a camera and a distance measurement sensor, such as a light detection and ranging (LIDAR) sensor. The housing may move between different positions during calibration, for instance by being rotated atop a turntable. The camera and distance measurement sensor may both capture data during calibration, from which visual and distance measurement representations of the polyhedral sensor target are identified. The camera and distance measurement sensor are calibrated based on their respective representations, for example by mapping vertices within the representations to the same location.
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