Methods and systems to compensate for vehicle calibration errors
US10867409B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 22, 2019 |
| Grant date | Dec 15, 2020 |
| Priority date | — |
| Expiry date | Sep 4, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods and system for compensating for vehicle system errors. A virtual camera is added to vehicle sensor configurations and a coordinate transformation process which attempts to match multiple 3D points associated with a landmark to a detected landmark. The virtual camera is associated with the detected landmark. The 3D world coordinate points may be transformed to a real 3D camera coordinate system and then to a virtual 3D camera coordinate system. The 3D points in real and virtual camera coordinate frames are projected onto the corresponding 2D image pixel coordinates, respectively. Inclusion of the virtual camera in the coordinate transformation process presents a 3D to 2D point corresponding problem which may be resolved using camera pose estimation algorithms. An offset compensation transformation matrix may be determined which accounts for errors contributed by mis-calibrated vehicle sensors or systems and applied to all data prior to use by the vehicle control systems.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.