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    METHOD AND SYSTEM FOR CALIBRATING VEHICULAR CAMERAS
    1.
    发明申请
    METHOD AND SYSTEM FOR CALIBRATING VEHICULAR CAMERAS 审中-公开

    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

    IPC: B60R11/04 ,  G06T7/80 ,  G03B43/00 ,  G06T3/40 ,  H04N17/00

    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.

    Method and system for dynamically ascertaining alignment of vehicular cameras
    2.
    发明授权
    Method and system for dynamically ascertaining alignment of vehicular cameras 有权

    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

    IPC: B60R11/04 ,  G06T7/80 ,  G03B43/00 ,  G06T3/40 ,  H04N17/00

    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.

    METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS
    3.
    发明申请
    METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS 审中-公开

    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

    IPC: B60R1/00 ,  G06T7/80 ,  H04N17/00

    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.

    Method for dynamically calibrating vehicular cameras
    4.
    发明授权
    Method for dynamically calibrating vehicular cameras 有权

    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

    IPC: G06T7/80 ,  B60R1/06 ,  B60R1/00 ,  H04N17/00

    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.

    Multi-camera dynamic top view vision system
    5.
    发明授权
    Multi-camera dynamic top view vision system 有权

    公开(公告)号：US10179543B2

    公开(公告)日：2019-01-15

    申请号：US14191512

    申请日：2014-02-27

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Ghanshyam Rathi ,  Hilda Faraji ,  Nikhil Gupta ,  Christian Traub ,  Michael Schaffner ,  Goerg Pflug

    IPC: B60R1/00 ,  G06K9/00 ,  H04N5/225 ,  H04N5/232 ,  G06T3/40

    Abstract: A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.

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