公开(公告)号：US20230260291A1

公开(公告)日：2023-08-17

申请号：US17651405

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G06V20/56 ,  B60W30/02

CPC classification number: G06V20/588 ,  B60W30/025 ,  B60W2420/42 ,  B60W2552/53 ,  B60W2420/52

Abstract: Methods and systems for a vehicle are provided. In one embodiment, the method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; 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, the ground normal vector based on a sliding widow method; 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：US20230260157A1

公开(公告)日：2023-08-17

申请号：US17651407

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G06T7/80 ,  G06V10/40 ,  G06V10/22 ,  G06T7/73

CPC classification number: G06T7/80 ,  G06V10/40 ,  G06V10/22 ,  G06T7/73 ,  G06T2207/30252 ,  G06T2207/30244

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; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points based on a fixed two dimensional image road mask and a three dimensional region; 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.