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公开(公告)号：US20240095061A1
公开(公告)日：2024-03-21
申请号：US17947244
申请日：2022-09-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Guanlun He , Yao Hu , Binbin Li , Hao Yu
Abstract: A computer-implemented method for aligning a sensor to reference coordinate system includes initiating a plurality of threads, each thread executes simultaneously and independent of each other. A first thread parses data received from the sensor and stores the parsed data in a data buffer. A second thread computes an alignment transformation using the parsed data to determine alignment between the sensor and the reference coordinate system. The computing includes checking that the data buffer contains at least predetermined amount of data. If at least the predetermined amount of data exists, an intermediate result is computed using the parsed data in the data buffer; otherwise, the second thread waits for the first thread to add more data to the data buffer. The second thread outputs the intermediate result into the data buffer. A third thread outputs the alignment transformation, in response to completion of alignment computations.
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公开(公告)号：US20230215045A1
公开(公告)日：2023-07-06
申请号：US17567371
申请日：2022-01-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yao Hu , Xinyu Du , Binbin Li , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G06T7/73 , G06V20/58 , G06T2207/30252 , G06T2207/10016 , B60R11/04
Abstract: A system for on-vehicle camera alignment monitoring includes an on-vehicle camera in communication with a controller. The controller monitors vehicle operating parameters and camera signal parameters, and captures an image file from the on-vehicle camera. A first level analysis of the image file, the vehicle operating parameters, and the camera signal parameters is executed to detect dynamic conditions and image feature parameters that affect camera alignment. An error with one of the dynamic conditions or the image feature parameters that affects the camera alignment is detected. A second level analysis of the camera signal parameters is executed to identify a root cause indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error. A camera alignment-related fault is detected based upon the root cause, and vehicle operation is controlled based upon the camera alignment-related fault.
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公开(公告)号：US12106518B2
公开(公告)日：2024-10-01
申请号：US17567371
申请日：2022-01-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yao Hu , Xinyu Du , Binbin Li , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G06T7/73 , G06V20/58 , B60R11/04 , G06T2207/10016 , G06T2207/30252
Abstract: A system for on-vehicle camera alignment monitoring includes an on-vehicle camera in communication with a controller. The controller monitors vehicle operating parameters and camera signal parameters, and captures an image file from the on-vehicle camera. A first level analysis of the image file, the vehicle operating parameters, and the camera signal parameters is executed to detect dynamic conditions and image feature parameters that affect camera alignment. An error with one of the dynamic conditions or the image feature parameters that affects the camera alignment is detected. A second level analysis of the camera signal parameters is executed to identify a root cause indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error. A camera alignment-related fault is detected based upon the root cause, and vehicle operation is controlled based upon the camera alignment-related fault.
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公开(公告)号：US20230256975A1
公开(公告)日：2023-08-17
申请号：US17651406
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: B60W40/10 , G06V20/58 , B60W2420/42 , B60W2552/53
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; receiving vehicle data indicating a velocity of the vehicle, wherein the vehicle data is associated with the image data; determining, by a processor, feature points within at least one image based on the vehicle data and a three dimensional projection method; 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, 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.
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公开(公告)号：US20230215026A1
公开(公告)日：2023-07-06
申请号：US17567365
申请日：2022-01-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Yao Hu , Binbin Li , Hao Yu , Wende Zhang
IPC: G06T7/33 , H04N5/247 , H04N5/262 , G06T7/246 , G06V20/56 , G06T7/55 , G06T7/80 , B60W10/04 , B60W10/18 , B60W10/20 , G01S17/89 , G01S17/931
CPC classification number: G06T7/33 , H04N5/247 , H04N5/2625 , G06T7/246 , G06V20/56 , G06T7/55 , G06T7/80 , B60W10/04 , B60W10/18 , B60W10/20 , G01S17/89 , G01S17/931 , G06T2207/30252 , G06T2207/20212 , G06T2207/10028 , B60W2420/42 , B60W2420/52 , B60W2552/35
Abstract: A vehicle control system including a spatial monitoring system includes on-vehicle cameras that capture images, from which are recovered a plurality of three-dimensional (3D) points. A left ground plane normal vector is determined for a left image, a center ground plane normal vector is determined for a front image, and a right ground plane normal vector is determined for a right image. A first angle difference between the left ground plane normal vector and the center ground plane normal vector is determined, and a second angle difference between the right ground plane normal vector and the center ground plane normal vector is determined. An uneven ground surface is determined based upon one of the first angle difference or the second angle difference, and an alignment compensation factor for the left camera or the right camera is determined. A bird's eye view image is determined based upon the alignment compensation factor.
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Patent Agency Ranking
公开(公告)号：US12094220B2
公开(公告)日：2024-09-17
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
CPC classification number: G06V20/588 , B60W30/025 , B60W2420/403 , B60W2420/408 , B60W2552/53
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.
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公开(公告)号：US20240276100A1
公开(公告)日：2024-08-15
申请号：US18169352
申请日：2023-02-15
Applicant: GM Global Technology Operations LLC
CPC classification number: H04N23/695 , G06T7/11 , G06V10/25 , G06V10/44 , G06V10/56 , G06V10/761 , G06T2207/10024 , G06T2207/30252
Abstract: A vehicle, system and method of aligning a first camera of the vehicle with a second camera of the vehicle. The system includes a processor configured to detect a first set of features in a first image obtained from the first camera, detect a second set of features in a second image obtained from the second camera, determine a first region of interest in the first image, determine a second region of interest in the second image, generate a feature pair by matching the first set of features to the second set of features using the first region of interest and the second region of interest, align the first camera with the second camera using the feature pair, and control an operation at the vehicle based on the alignment between the first camera and the second camera.
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公开(公告)号：US20230326077A1
公开(公告)日：2023-10-12
申请号：US17719151
申请日：2022-04-12
Applicant: GM Global Technology Operations LLC
CPC classification number: G06T7/80 , G06V10/40 , B60W40/04 , G06T2207/30252 , B60W2420/42
Abstract: A vehicle, a system and a method of navigating the vehicle. The system includes a camera conveyed by the vehicle and a processor. The camera is configured to obtain an original image data file of an environment. The processor is configured to reduce the original image data file to obtain a reduced image data file and determine an alignment between a camera-centered coordinate system and a ground coordinate system using the reduced image data file.
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公开(公告)号：US12260590B2
公开(公告)日：2025-03-25
申请号：US17719151
申请日：2022-04-12
Applicant: GM Global Technology Operations LLC
Abstract: A vehicle, a system and a method of navigating the vehicle. The system includes a camera conveyed by the vehicle and a processor. The camera is configured to obtain an original image data file of an environment. The processor is configured to reduce the original image data file to obtain a reduced image data file and determine an alignment between a camera-centered coordinate system and a ground coordinate system using the reduced image data file.
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公开(公告)号：US20240273741A1
公开(公告)日：2024-08-15
申请号：US18169081
申请日：2023-02-14
Applicant: GM Global Technology Operations LLC
CPC classification number: G06T7/337 , G06T3/12 , G06T3/60 , G06T2207/30244 , G06T2207/30252
Abstract: A vehicle includes a system that performs a method for aligning a first camera and a second camera to a reference frame of the vehicle. The first camera has a first coordinate system, and the second camera has a second coordinate system. The first camera obtains a first image. The processor is configured to obtain a first camera-to-ground transformation matrix for the first camera using the first image, wherein the first camera-to-ground transformation matrix relates the first coordinate system to a ground coordinate system, obtain a camera-to-camera transformation matrix between the first coordinate system of the first camera and the second coordinate system of the second camera, calculate a constructed camera-to-ground transformation matrix for the second camera using the first camera-to-ground transformation matrix and the camera-to-camera transformation matrix, and update the second coordinate system of the second camera using the constructed camera-to-ground transformation.
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