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公开(公告)号：US20230185085A1
公开(公告)日：2023-06-15
申请号：US17550674
申请日：2021-12-14
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Yongjun Wang , Nigel Rodrigues
CPC classification number: G02B27/0025 , G02B6/001
Abstract: Apparatus and methods are provided for using a self-illuminating harp to calibrate for distortion. In particular, apparatus, methods and systems are provided for imaging and analyzing self-illuminated harp in order to correct for lens distortion. In various implementations, an array of media is strung plumb which resembles a harp. The media can be light fibers or other suitable material which can be strung in a straight line. The cores of translucent fibers are illuminated. These are configured to scatter light throughout their bulk which escapes the core by egressing along the length of fiber. This light produces plumb lines which can be imaged, analyzed and model. In some implementations, imaging is performed by rotation to include a full FOV.
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公开(公告)号：US20230147966A1
公开(公告)日：2023-05-11
申请号：US18095581
申请日：2023-01-11
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang , Daniel Chou , Nigel Rodrigues
CPC classification number: G06T7/80 , G01S17/08 , G01S17/86 , H04N17/002 , G06T5/006 , G06T2207/30244
Abstract: A computer-implemented method includes receiving, by a computing system, a first image of an optical target from a camera. The first image is associated with a first position of the camera. The method also includes receiving, by the computing system, a second image of the optical target, Wherein the second image is associated with a second position of the camera. The method also includes determining an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image. The method further includes determining a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.
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公开(公告)号：US20230184890A1
公开(公告)日：2023-06-15
申请号：US17548549
申请日：2021-12-12
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Matthew Clayton Jones , Juan Fasola
CPC classification number: G01S7/4082 , G01S7/497 , G01S13/75 , G01S17/74 , G01S17/931
Abstract: Apparatus and methods are provided for using a retroflected target for calibrating environmental geometric sensing systems. In particular, apparatus and methods are provided for unstructured calibrations using a plurality of spatial sensing data acquisitions and the data correlations thereof. In various implementations, a combined LiDAR-RADAR detector is used to associate one with the other. According to one aspect of the present disclosure, a predetermined LiDAR detector is used as a reference frame for RADAR segmentation. Specifically, a LiDAR point-of-interest is conveyed to RADAR system for unstructured calibration. To that end, RADAR and LiDAR can be calibrated with one another without the need for absolute positioning.
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公开(公告)号：US11587258B1
公开(公告)日：2023-02-21
申请号：US17523152
申请日：2021-11-10
Applicant: GM CRUISE HOLDINGS LLC
Inventor： Yongjun Wang , Daniel Chou , Nigel Rodrigues
Abstract: A computer-implemented method for focal length validation may include receiving, by a computing system, initial image data for an optical target from a camera. The method may also include determining a distortion parameter associated with the camera, based on the initial image data. The method may also include receiving, by the computing system, a first image of the optical target, wherein the first image is associated with a first position of the camera. The method may also include receiving, by the computing system, a second image of the optical target, wherein the second image is associated with a second position of the camera. The method may also include determining an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image. The method may further include determining a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.
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公开(公告)号：US20230228601A1
公开(公告)日：2023-07-20
申请号：US18126076
申请日：2023-03-24
Applicant: GM Cruise Holdings LLC
Inventor： Zhi Yuan Sherwin Lau , Daniel Chou , Kayla Holman , Derek Wu
IPC: G01D18/00 , G01S13/931 , G01B11/27 , G06T7/80
CPC classification number: G01D18/008 , G01S13/931 , G01B11/272 , G06T7/80
Abstract: An illuminated sensor target includes a light source. Actuating the light source illuminates the sensor target. The illuminated sensor target is recognized by one or more sensors of a vehicle during a calibration process, and is used to calibrate the one or more sensors of the vehicle during the calibration process. The illuminated sensor target is illuminated during at least part of the calibration process, which may involve rotation of the vehicle about a turntable, with the illuminated sensor target positioned within a range of the turntable along with other sensors targets, which may also be illuminated.
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Patent Agency Ranking
公开(公告)号：US20230186518A1
公开(公告)日：2023-06-15
申请号：US17550437
申请日：2021-12-14
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Yongjun Wang , Nigel Rodrigues
CPC classification number: G06T7/80 , G06T7/70 , G06T2207/10028 , G06T2207/10048
Abstract: To calibrate a set of sensors with respect to one another, such as the respective position and orientation of the sensors, a sensor calibration system uses a well-measured calibration scene in which the objects within the calibration scene have established positions, and optionally orientations (e.g., rotational directions), within the calibration scene and with respect to one another. The calibration scene is captured by a set of sensors to generate respective sensor views of the scene. Each sensor view is analyzed to detect control objects (e.g., features thereof) with respect to the coordinates of each sensor view. Using the known relationship of the calibration objects within the calibration scene, the sensors are calibrated to determine calibration parameters for a joint coordinate system that the maps the detected positions in the sensor view with the relative positions of the measured calibration scene.
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公开(公告)号：US11644350B2
公开(公告)日：2023-05-09
申请号：US16730054
申请日：2019-12-30
Applicant: GM Cruise Holdings LLC
Inventor： Zhi Yuan Sherwin Lau , Daniel Chou , Kayla Holman , Derek Wu
IPC: G01D18/00 , G01B11/27 , G01S13/931 , G06T7/80
CPC classification number: G01D18/008 , G01B11/272 , G01S13/931 , G06T7/80
Abstract: An illuminated sensor target includes a light source. Actuating the light source illuminates the sensor target. The illuminated sensor target is recognized by one or more sensors of a vehicle during a calibration process, and is used to calibrate the one or more sensors of the vehicle during the calibration process. The illuminated sensor target is illuminated during at least part of the calibration process, which may involve rotation of the vehicle about a turntable, with the illuminated sensor target positioned within a range of the turntable along with other sensors targets, which may also be illuminated.
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公开(公告)号：US20210199479A1
公开(公告)日：2021-07-01
申请号：US16730054
申请日：2019-12-30
Applicant: GM Cruise Holdings LLC
Inventor： Zhi Yuan Sherwin Lau , Daniel Chou , Kayla Holman , Derek Wu
IPC: G01D18/00 , G06T7/80 , G01B11/27 , G01S13/931
Abstract: An illuminated sensor target includes a light source. Actuating the light source illuminates the sensor target. The illuminated sensor target is recognized by one or more sensors of a vehicle during a calibration process, and is used to calibrate the one or more sensors of the vehicle during the calibration process. The illuminated sensor target is illuminated during at least part of the calibration process, which may involve rotation of the vehicle about a turntable, with the illuminated sensor target positioned within a range of the turntable along with other sensors targets, which may also be illuminated.
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公开(公告)号：US12225321B2
公开(公告)日：2025-02-11
申请号：US18244884
申请日：2023-09-11
Applicant: GM Cruise Holdings LLC
Inventor： Yongjun Wang , Marco Antonio Gaxiola Michel , Daniel Chou
Abstract: The present technology is directed to determining an accuracy of an infrared (IR) camera, and more particularly, validating a distortion accuracy of an IR camera. The present technology can receive one or more images of a calibration harp captured by the IR camera, wherein the one or more images include a plurality of lines corresponding to a plurality of strings of the calibration harp. The present technology can further determine a degree of distortion of the plurality of lines based on a distortion error coefficient, wherein the distortion error coefficient is computed based on edge points of the plurality of lines on the one or more images.
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公开(公告)号：US20240034347A1
公开(公告)日：2024-02-01
申请号：US18483841
申请日：2023-10-10
Applicant: GM Cruise Holdings LLC
Inventor： Daniel Chou , Nigel Rodrigues , Jordan Michael Croom
CPC classification number: B60W60/00 , G06V20/56 , G01C21/3885 , G06V40/10 , G01C21/3804 , B60W2420/00 , B60W2556/40 , B60W2050/0083
Abstract: A sensor calibration system periodically receives scene data from a detector in a calibration scene. The calibration scene includes calibration targets. The sensor calibration system generates a calibration map based on the scene data. The calibration map is a virtual representation of the calibration scene and includes features of the calibration targets that can be used as ground truth features for calibrating AV sensors. The sensor calibration system can periodically update the calibration map. For instance, the sensor calibration system receives the scene data at a predetermined frequency and updates the calibration map every time it receives new scene data. The predetermined frequency may be a frequency of the detector completing a full scan of the calibration scene. The sensor calibration system provides a latest version of the calibration map for being used by an AV to calibrate a sensor on the AV 110.
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