Coupler and tow-bar detection for automated trailer hitching via cloud points
US11198340B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 30, 2019 |
| Grant date | Dec 14, 2021 |
| Priority date | — |
| Expiry date | Aug 14, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/255
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle is provided. The method includes determining a region of interest within images from a rear camera. The region of interest includes a representation of the trailer hitch. The method includes determining a three-dimensional (3D) point cloud representing objects inside the region of interest. The method includes determining a camera plane based on the images. The method includes projecting the cloud points onto the camera plane and determining a coupler location based on the projected cloud points onto the camera plane. The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive in a rearward direction along the path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.