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公开(公告)号：US11554717B2
公开(公告)日：2023-01-17
申请号：US17302933
申请日：2021-05-17
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A vehicular vision system includes a camera disposed at a vehicle and operable to capture multiple frames of image data during a driving maneuver of the vehicle. A control includes an image processor that processes frames of captured image data to determine feature points in an image frame when the vehicle is operated within a first range of steering angles, and to determine motion trajectories of those feature points in subsequent image frames for the respective range of steering angles. The control determines a horizon line based on the determined motion trajectories. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
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公开(公告)号：US10919458B2
公开(公告)日：2021-02-16
申请号：US15929700
申请日：2020-05-18
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for calibrating a vehicular camera includes providing at least a front or rear camera and a side camera with overlapping fields of view, and calibrating the front or rear camera, capturing a calibrated frame of image data with the front or rear camera, and capturing a sideward frame of image data with a side camera. At least one feature is determined present in the overlapping region of the calibrated frame, and pixel positions of the determined feature are predicted for the side camera. Misalignment of the side camera is determined based on a comparison of the predicted pixel positions of the determined feature to the pixel positions of the determined feature in the sideward frame of image data captured by the side camera. Processing of image data captured by the side camera is adjusted to accommodate the determined misalignment.
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公开(公告)号：US20180086284A1
公开(公告)日：2018-03-29
申请号：US15830116
申请日：2017-12-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
CPC classification number: B60R11/04 , B60R2300/105 , B60R2300/303 , G03B43/00 , G06T3/4038 , G06T7/80 , G06T7/85 , G06T2207/30252 , H04N17/002
Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
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公开(公告)号：US20210001775A1
公开(公告)日：2021-01-07
申请号：US16948474
申请日：2020-09-21
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching image data captured by multiple vehicular cameras includes equipping a vehicle with a vehicular vision system having a control and a plurality of cameras disposed at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect and track an object present in and moving within an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a feature of a detected and tracked object as captured by the first camera and the feature of the detected and tracked object as captured by the second camera.
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公开(公告)号：US20200262347A1
公开(公告)日：2020-08-20
申请号：US15929460
申请日：2020-05-04
Applicant: Magna Electronics Inc.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
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Patent Agency Ranking
公开(公告)号：US20190143896A1
公开(公告)日：2019-05-16
申请号：US16246624
申请日：2019-01-14
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.
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公开(公告)号：US20200276939A1
公开(公告)日：2020-09-03
申请号：US15929700
申请日：2020-05-18
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for calibrating a vehicular camera includes providing at least a front or rear camera and a side camera with overlapping fields of view, and calibrating the front or rear camera, capturing a calibrated frame of image data with the front or rear camera, and capturing a sideward frame of image data with a side camera. At least one feature is determined present in the overlapping region of the calibrated frame, and pixel positions of the determined feature are predicted for the side camera. Misalignment of the side camera is determined based on a comparison of the predicted pixel positions of the determined feature to the pixel positions of the determined feature in the sideward frame of image data captured by the side camera. Processing of image data captured by the side camera is adjusted to accommodate the determined misalignment.
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公开(公告)号：US10654423B2
公开(公告)日：2020-05-19
申请号：US15830116
申请日：2017-12-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
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公开(公告)号：US20190168670A1
公开(公告)日：2019-06-06
申请号：US16266178
申请日：2019-02-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
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公开(公告)号：US10202077B2
公开(公告)日：2019-02-12
申请号：US15161711
申请日：2016-05-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data while the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set's feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.
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