公开(公告)号：US20240404107A1

公开(公告)日：2024-12-05

申请号：US18328862

申请日：2023-06-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Hongtao Wang ,  Wende Zhang ,  Hao Yu

IPC: G06T7/80 ,  G01C21/16

Abstract: Methods, apparatus, and systems for sensor alignment include acquiring a translational vector, a first calibration point location and a second calibration point location, determining an expected rotational orientation in response to the translational vector, the first calibration point location and the second calibration point location, capturing an image of the a first calibration point and the second calibration point, determining a first position of the first calibration point and a second position of the second calibration point in response to the image, calculating a calculated rotational orientation in response to the first position of the first calibration point and the second position of the second calibration point, determining a calibration value in response to the calculated rotational orientation, storing the calibration value and controlling a vehicle in response to the calibration value and a subsequent image.

公开(公告)号：US20240312059A1

公开(公告)日：2024-09-19

申请号：US18183423

申请日：2023-03-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yousef A. Omar ,  Hongtao Wang ,  Hao Yu ,  Wende Zhang

IPC: G06T7/80 ,  G01S7/497 ,  G01S17/89 ,  G06T7/70 ,  G06V20/56

CPC classification number: G06T7/80 ,  G01S7/497 ,  G01S17/89 ,  G06T7/70 ,  G06V20/56 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Method for sensor alignment including detecting a depth point cloud including a first object and a second object, generating a first control point in response to a location of the first object within the depth point cloud and a second control point in response to a location of the second object within the depth point cloud, capturing an image of a second field of view including a third object, generating a third control point in response to a location of the third object detected in response to the image, calculating a first reprojection error in response to the first control point and the third control point and a second reprojection error in response to the second control point and the third control point, generating an extrinsic parameter in response to the first reprojection error in response to the first reprojection error being less than the second reprojection error.