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公开(公告)号：US20240273741A1
公开(公告)日：2024-08-15
申请号：US18169081
申请日：2023-02-14
Applicant: GM Global Technology Operations LLC
CPC classification number: G06T7/337 , G06T3/12 , G06T3/60 , G06T2207/30244 , G06T2207/30252
Abstract: A vehicle includes a system that performs a method for aligning a first camera and a second camera to a reference frame of the vehicle. The first camera has a first coordinate system, and the second camera has a second coordinate system. The first camera obtains a first image. The processor is configured to obtain a first camera-to-ground transformation matrix for the first camera using the first image, wherein the first camera-to-ground transformation matrix relates the first coordinate system to a ground coordinate system, obtain a camera-to-camera transformation matrix between the first coordinate system of the first camera and the second coordinate system of the second camera, calculate a constructed camera-to-ground transformation matrix for the second camera using the first camera-to-ground transformation matrix and the camera-to-camera transformation matrix, and update the second coordinate system of the second camera using the constructed camera-to-ground transformation.
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公开(公告)号：US12043269B2
公开(公告)日：2024-07-23
申请号：US17651406
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: B60W40/10 , G06V20/58 , B60W2420/403 , B60W2552/53
Abstract: Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; receiving vehicle data indicating a velocity of the vehicle, wherein the vehicle data is associated with the image data; determining, by a processor, feature points within at least one image based on the vehicle data and a three dimensional projection method; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.
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公开(公告)号：US20240142590A1
公开(公告)日：2024-05-02
申请号：US17974985
申请日：2022-10-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
CPC classification number: G01S7/4972 , G01S7/40
Abstract: A computer-implemented method for aligning a sensor to a vehicle includes receiving a first frame of measurement from the sensor which includes a first point cloud. One or more clusters Ci representing one or more objects or the ground are segmented. A first set of feature vectors fi is computed for each cluster Ci. Based on the first set of feature vectors fi a second set of feature vectors fi′ is predicted respectively using an initial transformation. A third set of feature vectors fj is computed for a second frame with a second point cloud with clusters Cj. A pair of matching clusters is identified from Ci and Cj. A feature distance between the matching clusters is computed. An alignment transformation is computed by updating the initial transformation based on the feature distance. The method further includes aligning the sensor and the vehicle based on the alignment transformation.
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公开(公告)号：US20230306621A1
公开(公告)日：2023-09-28
申请号：US17655888
申请日：2022-03-22
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef Omar , Wende Zhang , Hao Yu
CPC classification number: G06T7/37 , B60R1/22 , G01S17/87 , G01S17/89 , G06K9/6226 , G06K9/6289 , G06V20/58 , G06T2207/20081 , G06T2207/30252
Abstract: Systems and methods are provided for generating alignment parameters for processing data associated with a vehicle. In one embodiment, a method includes: receiving image data associated with an environment of the vehicle; receiving lidar data associated with the environment of the vehicle; processing, by a processor, the image data to determine data points associated with at least one pole identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one pole identified within the lidar data; selectively storing the data points as data point pairs in a data buffer; iteratively processing, by the processor, the data point pairs with a plurality of perturbations to determine a transformation matrix; generating, by the processor, alignment data based on the transformation matrix; and processing future data based on the alignment parameters.
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公开(公告)号：US20230147739A1
公开(公告)日：2023-05-11
申请号：US17523222
申请日：2021-11-10
Applicant: GM Global Technology Operations LLC
Inventor： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
IPC: G01S7/497 , G01S17/931 , H04W4/44
CPC classification number: G01S7/4972 , G01S17/931 , H04W4/44
Abstract: A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, and processing circuitry to obtain the lidar data and localization data. The localization data indicates a location and orientation of the vehicle. The processing circuitry automatically determines an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the localization data.
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Patent Agency Ranking
公开(公告)号：US20230135965A1
公开(公告)日：2023-05-04
申请号：US17516318
申请日：2021-11-01
Applicant: GM Global Technology Operations LLC
Inventor： Yao Hu , Xinyu Du , Wende Zhang , Hao Yu
Abstract: A system in a vehicle includes a lidar system to transmit incident light and receive reflections from one or more objects as a point cloud of points. The system also includes processing circuitry to identify planar points and to identify edge points of the point cloud. Each set of planar points forms a linear pattern and each edge point is between two sets of planar points, and the processing circuitry identifies each point of the points of the point cloud as being within a virtual beam among a set of virtual beams. Each virtual beam of the set of virtual beams representing a horizontal band of the point cloud.
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公开(公告)号：US20200097019A1
公开(公告)日：2020-03-26
申请号：US16142150
申请日：2018-09-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Hao Yu , Wende Zhang , Brian J. Hufnagel
Abstract: An automotive vehicle includes an actuator configured to control vehicle steering, acceleration, speed, or shifting, a sensor configured to capture images of a region exterior to the vehicle, an illumination device coupled to the vehicle, and a controller in communication with the actuator, the sensor, and the illumination device. The controller is configured to, during a drive cycle, control the sensor to capture a first image with the illumination device emitting light and a second image with the illumination device not emitting light. The controller is additionally configured to calculate a difference image between the first image and the second image. The controller is further configured to control the actuator in a first mode in response to an object being detected in the difference image, and to control the actuator in a second mode in response to no object being detected in the difference image.
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公开(公告)号：US12130390B2
公开(公告)日：2024-10-29
申请号：US17569948
申请日：2022-01-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
IPC: G01S7/497 , B60W60/00 , G01S17/86 , G01S17/89 , G01S17/931
CPC classification number: G01S7/4972 , B60W60/00 , G01S17/86 , G01S17/89 , G01S17/931 , B60W2420/408
Abstract: A LIDAR-to-vehicle alignment system includes a memory and alignment and autonomous driving modules. The memory stores points of data provided based on an output of one or more LIDAR sensors and localization data. The alignment module performs an alignment process including: based on the localization data; determining whether a host vehicle is turning; in response to the host vehicle turning; selecting a portion of the points of data; aggregating the selected portion to provide aggregated data; selecting targets based on the aggregated data; and based on the selected targets, iteratively reducing a loss value of a loss function to provide a resultant LIDAR-to-vehicle transformation matrix. The autonomous driving module: based on the resultant LIDAR-to-vehicle transformation matrix, converts at least the selected portion to at least one of vehicle coordinates or world coordinates to provide resultant data; and performs one or more autonomous driving operations based on the resultant data.
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公开(公告)号：US20240312058A1
公开(公告)日：2024-09-19
申请号：US18183406
申请日：2023-03-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G01S17/89 , G06T7/13 , G06T7/50 , G06T7/70 , G06T2207/10028 , G06T2207/20084 , G06T2207/30252
Abstract: A sensor alignment method including detecting, detecting an object within a first sensor field of view and a second sensor field of view, detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance, aggregating the plurality of depth point clouds into an aggregated depth point cloud, detecting a first location of an edge of the object in response to the aggregated depth point cloud, detecting a second location of the edge of the object using an edge detection algorithm on the image, generating a lidar to camera alignment in response to a difference between the first location and the second location.
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公开(公告)号：US12094169B2
公开(公告)日：2024-09-17
申请号：US17651407
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G06T7/73 , G06V10/22 , G06V10/40 , G06T2207/30244 , G06T2207/30252
Abstract: Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points based on a fixed two dimensional image road mask and a three dimensional region; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.
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