公开(公告)号：US12269500B2

公开(公告)日：2025-04-08

申请号：US17516348

申请日：2021-11-01

Applicant: GM Global Technology Operations LLC

Inventor： Michael Baltaxe ,  Dan Levi ,  Noa Garnett ,  Doron Portnoy ,  Amit Batikoff ,  Shahar Ben Ezra ,  Tal Furman

IPC: B60W60/00 ,  G06F18/214 ,  G06V20/58

Abstract: A system in a vehicle includes an image sensor to obtain images in an image sensor coordinate system and a depth sensor to obtain point clouds in a depth sensor coordinate system. Processing circuitry implements a neural network to determine a validation state of a transformation matrix that transforms the point clouds in the depth sensor coordinate system to transformed point clouds in the image sensor coordinate system. The transformation matrix includes rotation parameters and translation parameters.

公开(公告)号：US20220414923A1

公开(公告)日：2022-12-29

申请号：US17358162

申请日：2021-06-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Doron Portnoy ,  Amit Batikoff

IPC: G06T7/73 ,  H04N5/272 ,  G01S17/89 ,  G01S19/39

Abstract: A method for alignment a lidar with a camera of a vehicle includes: aggregating multiple lidar scans performed by the lidar of a vehicle while the vehicle is in motion to generate an aggregated point-cloud; rendering the aggregate point-cloud onto a camera image to generate a rendered image; comparing the rendered image with the camera image to determine a difference between the rendered image and the camera image, wherein a difference value is indicative of the difference between the rendered image and the camera image is represented; and determining that the camera is aligned with the lidar in response to determining that the difference value is less than or equal to a predetermined threshold.

公开(公告)号：US20230134125A1

公开(公告)日：2023-05-04

申请号：US17516348

申请日：2021-11-01

Applicant: GM Global Technology Operations LLC

Inventor： Michael Baltaxe ,  Dan Levi ,  Noa Garnett ,  Doron Portnoy ,  Amit Batikoff ,  Shahar Ben Ezra ,  Tal Furman

IPC: B60W60/00 ,  G06K9/00 ,  G06K9/62

Abstract: A system in a vehicle includes an image sensor to obtain images in an image sensor coordinate system and a depth sensor to obtain point clouds in a depth sensor coordinate system. Processing circuitry implements a neural network to determine a validation state of a transformation matrix that transforms the point clouds in the depth sensor coordinate system to transformed point clouds in the image sensor coordinate system. The transformation matrix includes rotation parameters and translation parameters.

公开(公告)号：US11568565B2

公开(公告)日：2023-01-31

申请号：US17358162

申请日：2021-06-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Doron Portnoy ,  Amit Batikoff

IPC: G06T7/73 ,  H04N5/272 ,  G01S19/39 ,  G01S17/89

Abstract: A method for alignment a lidar with a camera of a vehicle includes: aggregating multiple lidar scans performed by the lidar of a vehicle while the vehicle is in motion to generate an aggregated point-cloud; rendering the aggregate point-cloud onto a camera image to generate a rendered image; comparing the rendered image with the camera image to determine a difference between the rendered image and the camera image, wherein a difference value is indicative of the difference between the rendered image and the camera image is represented; and determining that the camera is aligned with the lidar in response to determining that the difference value is less than or equal to a predetermined threshold.