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.

公开(公告)号：US11348282B1

公开(公告)日：2022-05-31

申请号：US17167343

申请日：2021-02-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrew W. Averhart ,  Ismail Hamieh ,  Mohsen Khalili ,  Yousef A. Omar

IPC: H04N17/00 ,  G06T7/80 ,  B60R11/04

Abstract: A camera of a vehicle has a field of view. A perception module of the vehicle is configured to determine a location of an object relative to the vehicle based on a model for the camera and a camera ground truth orientation of the camera. A calibration module is configured to: wirelessly receive images from the camera; determine a vehicle camera target based on the images; when the vehicle camera target is aligned with a calibration module target on the calibration module, determine a present orientation of the calibration module measured using a gyroscope of the calibration module; when at least one component of the present orientation of the calibration module is different than the at least one component of an expected orientation of the calibration module, determine an updated camera ground truth orientation of the camera; and wirelessly transmit the updated ground truth orientation to the vehicle.

公开(公告)号：US20240312058A1

公开(公告)日：2024-09-19

申请号：US18183406

申请日：2023-03-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G06T7/80 ,  G01S17/89 ,  G06T7/13 ,  G06T7/50 ,  G06T7/70

CPC classification number: G06T7/80 ,  G01S17/89 ,  G06T7/13 ,  G06T7/50 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A sensor alignment method including detecting, detecting an object within a first sensor field of view and a second sensor field of view, detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance, aggregating the plurality of depth point clouds into an aggregated depth point cloud, detecting a first location of an edge of the object in response to the aggregated depth point cloud, detecting a second location of the edge of the object using an edge detection algorithm on the image, generating a lidar to camera alignment in response to a difference between the first location and the second location.

公开(公告)号：US11892574B2

公开(公告)日：2024-02-06

申请号：US16944253

申请日：2020-07-31

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G01S7/497 ,  G01S17/86 ,  G01S17/931 ,  G06T7/70

CPC classification number: G01S7/4972 ,  G01S17/86 ,  G01S17/931 ,  G06T7/70

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.

公开(公告)号：US20220035014A1

公开(公告)日：2022-02-03

申请号：US16944253

申请日：2020-07-31

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

IPC: G01S7/497 ,  G01S17/931 ,  G01S17/86

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.