-
公开(公告)号：US20190120934A1
公开(公告)日：2019-04-25
申请号：US15788048
申请日：2017-10-19
Applicant: GM Global Technology Operations LLC
Inventor： Michael Slutsky , Daniel I. Dobkin , Shahar Villeval , Igal Bilik
Abstract: A system and method to perform a three-dimensional alignment of a radar and a camera with an area of overlapping fields of view position a corner reflector within the area. The method includes obtaining sensor data for the corner reflector with the radar and the camera, and iteratively repositioning the corner reflector within the area and repeating the obtaining the sensor data. A rotation matrix and a translation vector are determined that align the radar and the camera such that a three-dimensional detection by the radar projects to a location on a two-dimensional image obtained by the camera according to the rotation matrix and the translation vector.
-
Patent Agency Ranking
公开(公告)号：US20200309530A1
公开(公告)日：2020-10-01
申请号：US16371365
申请日：2019-04-01
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Michael Slutsky , Daniel I. Dobkin
Abstract: A vehicle pose determining system and method for accurately estimating the pose of a vehicle (i.e., the location and/or orientation of a vehicle). The system and method use a form of sensor fusion, where output from vehicle dynamics sensors (e.g., accelerometers, gyroscopes, encoders, etc.) is used with output from vehicle radar sensors to improve the accuracy of the vehicle pose data. Uncorrected vehicle pose data derived from dynamics sensor data is compensated with correction data that is derived from occupancy grids that are based on radar sensor data. The occupancy grids, which are 2D or 3D mathematical objects that are somewhat like radar-based maps, must correspond to the same geographic location. The system and method use mathematical techniques (e.g., cost functions) to rotate and shift multiple occupancy grids until a best fit solution is determined, and the best fit solution is then used to derive the correction data that, in turn, improves the accuracy of the vehicle pose data.
-
公开(公告)号：US20190353778A1
公开(公告)日：2019-11-21
申请号：US15979963
申请日：2018-05-15
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Michael Slutsky , Daniel I. Dobkin
Abstract: A vehicle, system and method of mapping the environment is disclosed. The system includes a sensor and a processor. The sensor is configured to obtain a detection from an object in an environment surrounding the vehicle. The processor is configured to compute a plurality of radial components and a plurality of angular components for a positive inverse sensor model (ISM) of an occupancy grid, select a radial component corresponding to a range of the detection from the plurality of radial components and selecting an angular component corresponding to an angle of the detection from the plurality of angular components, multiply the selected radial component and the selected angular component to create an occupancy grid for the detection, and map the environment using the occupancy grid.
-
公开(公告)号：US11372424B2
公开(公告)日：2022-06-28
申请号：US15976205
申请日：2018-05-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Michael Slutsky , Daniel I. Dobkin
Abstract: A vehicle, navigation system of the vehicle, and method for observing an environment of the vehicle. The navigation system includes a sensor and a processor. The sensor obtains a detection from an object located in an environment of the vehicle at a with-detection direction with respect to the sensor that includes the detection. The processor determines a no-detection direction that does not include the detection, assigns an empty space likelihood to an occupancy grid of the sensor along the no-detection direction, and generates a map of the environment using the occupancy grid.
-
公开(公告)号：US11168985B2
公开(公告)日：2021-11-09
申请号：US16371365
申请日：2019-04-01
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Michael Slutsky , Daniel I. Dobkin
IPC: G01C21/16 , G01S13/931 , G01S13/89 , G06T7/70 , G01S13/93
Abstract: A vehicle pose determining system and method for accurately estimating the pose of a vehicle (i.e., the location and/or orientation of a vehicle). The system and method use a form of sensor fusion, where output from vehicle dynamics sensors (e.g., accelerometers, gyroscopes, encoders, etc.) is used with output from vehicle radar sensors to improve the accuracy of the vehicle pose data. Uncorrected vehicle pose data derived from dynamics sensor data is compensated with correction data that is derived from occupancy grids that are based on radar sensor data. The occupancy grids, which are 2D or 3D mathematical objects that are somewhat like radar-based maps, must correspond to the same geographic location. The system and method use mathematical techniques (e.g., cost functions) to rotate and shift multiple occupancy grids until a best fit solution is determined, and the best fit solution is then used to derive the correction data that, in turn, improves the accuracy of the vehicle pose data.
-
公开(公告)号：US10816659B2
公开(公告)日：2020-10-27
申请号：US15979963
申请日：2018-05-15
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Michael Slutsky , Daniel I. Dobkin
Abstract: A vehicle, system and method of mapping the environment is disclosed. The system includes a sensor and a processor. The sensor is configured to obtain a detection from an object in an environment surrounding the vehicle. The processor is configured to compute a plurality of radial components and a plurality of angular components for a positive inverse sensor model (ISM) of an occupancy grid, select a radial component corresponding to a range of the detection from the plurality of radial components and selecting an angular component corresponding to an angle of the detection from the plurality of angular components, multiply the selected radial component and the selected angular component to create an occupancy grid for the detection, and map the environment using the occupancy grid.
-
-
-
-
-
Search Results
6
records
(took 0.015 seconds)
