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公开(公告)号：US10997737B2
公开(公告)日：2021-05-04
申请号：US16401696
申请日：2019-05-02
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Ofer Geva , Michael Slutsky
Abstract: A system and method for aligning image data from a vehicle camera is provided. The method includes: obtaining image data from the vehicle camera; obtaining sensor data from vehicle sensor(s); carrying out a yaw/pitch estimation process to obtain yaw/pitch camera alignment information that includes a yaw misalignment estimate and a pitch misalignment estimate, wherein the yaw/pitch estimation process uses the image data and the sensor data to determine three-dimensional points of identified features within frames of the image data; after the yaw/pitch estimation process, carrying out a roll estimation process to obtain roll alignment information that includes a roll misalignment estimate, wherein the roll estimation process includes using the yaw/pitch camera alignment information; and applying camera alignment information to the image data to obtain aligned image data, wherein the camera alignment information includes information based on the yaw/pitch camera alignment information, the roll alignment information, or both.
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公开(公告)号：US20200349723A1
公开(公告)日：2020-11-05
申请号：US16401696
申请日：2019-05-02
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Ofer Geva , Michael Slutsky
Abstract: A system and method for aligning image data from a vehicle camera is provided. The method includes: obtaining image data from the vehicle camera; obtaining sensor data from vehicle sensor(s); carrying out a yaw/pitch estimation process to obtain yaw/pitch camera alignment information that includes a yaw misalignment estimate and a pitch misalignment estimate, wherein the yaw/pitch estimation process uses the image data and the sensor data to determine three-dimensional points of identified features within frames of the image data; after the yaw/pitch estimation process, carrying out a roll estimation process to obtain roll alignment information that includes a roll misalignment estimate, wherein the roll estimation process includes using the yaw/pitch camera alignment information; and applying camera alignment information to the image data to obtain aligned image data, wherein the camera alignment information includes information based on the yaw/pitch camera alignment information, the roll alignment information, or both.
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