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：US20230211798A1

公开(公告)日：2023-07-06

申请号：US17569973

申请日：2022-01-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Noam Zac ,  Tal Furman

IPC: B60W60/00 ,  G06T7/30 ,  G06T7/70 ,  G06T7/20 ,  G01S17/89 ,  G01S17/58

CPC classification number: B60W60/001 ,  G06T7/30 ,  G06T7/70 ,  G06T7/20 ,  G01S17/89 ,  G01S17/58 ,  G06T2207/30252 ,  B60W2420/52 ,  B60W2420/42

Abstract: A motion monitor includes a lidar device, a controller, and a circuit. The lidar device is configured to perform scans of an environment proximate the ego vehicle to generate lidar point clouds related to one or more objects in the environment. The controller is configured to transform the lidar point clouds with location transform matrices to generate location point sets, aggregate the location point sets in a duration of interest to generate aggregated point sets, register the location point sets to the aggregated point sets to generate correction transform matrices, update the location transform matrices with the correction transform matrices to generate updated location transform matrices, and generate motion sets based on the updated location transform matrices. The circuit is configured to receive the motion sets.

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.