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21. 发明申请

US20200101899A1 METHOD FOR STITCHING IMAGES CAPTURED BY MULTIPLE VEHICULAR CAMERAS 审中-公开
公开(公告)号：US20200101899A1
公开(公告)日：2020-04-02
申请号：US16693515
申请日：2019-11-25
申请人： MAGNA ELECTRONICS INC.
发明人： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
IPC分类号： B60R1/00 , G06K9/00 , H04N5/225 , H04N5/232 , G06T3/40
摘要： A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.

22. 发明申请

US20160267657A1 METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS 审中-公开
标题翻译：动态校准车辆摄像机的方法
公开(公告)号：US20160267657A1
公开(公告)日：2016-09-15
申请号：US15161711
申请日：2016-05-23
申请人： MAGNA ELECTRONICS INC.
发明人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
IPC分类号： G06T7/00 , H04N17/00 , B60R1/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/402 , B60R2300/8086 , B60R2300/8093 , G06T7/80 , G06T2207/30252 , H04N17/00 , H04N17/002
摘要： A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data whilst the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set's feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.
摘要翻译：用于动态校正车辆摄像机的未对准的方法包括在车辆处固定地设置摄像机并且操作摄像机以在车辆大体上以直线移动时获取多帧图像数据。在图像帧中选择多组特征点，其中每个集合包括第一特征点和第二特征点。对于每组特征点，该集合的特征点的运动轨迹在随后的图像帧中被跟踪。对于每个跟踪的第一和第二特征点，在图像平面中建立消失点。基于已建立的消失点，在图像平面中确定消失线。当消失线在图像平面中被确定为非水平时，调整照相机的俯仰，滚动或偏转中的至少一个以校正照相机的旋转未对准。

23. 发明申请

US20220207767A1 VEHICULAR TRAILER HITCHING ASSIST SYSTEM WITH DETERMINATION OF LOCATION OF HITCH 有权
公开(公告)号：US20220207767A1
公开(公告)日：2022-06-30
申请号：US17655383
申请日：2022-03-18
申请人： Magna Electronics Inc.
发明人： Nikhil Gupta , Galina Okouneva , Hilda Faraji , Jyothi P. Gali
IPC分类号： G06T7/73 , H04N7/18
摘要： A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing a trailer hitch disposed at the vehicle. Responsive to processing at an electronic control unit (ECU) of frames of image data captured by the camera, a feature of the trailer hitch is detected. The system, at least in part via processing at the ECU of at least one frame of image data captured by the camera, determines a ground location at the ground below the detected feature of the trailer hitch, and determines a location of the trailer hitch at the vehicle. The vehicle is maneuvered toward a trailer for hitching the trailer to the trailer hitch of the vehicle based at least in part on (i) the determined location of the trailer hitch and (ii) the height of the detected feature of the trailer hitch above the ground location.

24. 发明申请

US20220089088A1 MULTI-CAMERA VEHICULAR VISION SYSTEM WITH GRAPHIC OVERLAY 有权
公开(公告)号：US20220089088A1
公开(公告)日：2022-03-24
申请号：US17457701
申请日：2021-12-06
申请人： Magna Electronics Inc.
发明人： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
IPC分类号： B60R1/00 , G06K9/00 , H04N5/225 , H04N5/232 , G06T3/40
摘要： A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.

25. 发明授权

US11282227B2 Trailer assist system with estimation of 3D location of hitch 有权
公开(公告)号：US11282227B2
公开(公告)日：2022-03-22
申请号：US16947464
申请日：2020-08-03
申请人： Magna Electronics Inc.
发明人： Nikhil Gupta , Galina Okouneva , Hilda Faraji , Jyothi P. Gali
IPC分类号： H04N7/18 , G06T7/73 , B60R11/04 , B60R11/00 , B60R1/00 , B60D1/36
摘要： A trailer assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and viewing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch viewed by the camera. The control, responsive to processing at the control of image data captured by the camera, detects a feature of the trailer hitch at determines Cartesian coordinates of the trailer hitch location and transforms the Cartesian coordinates of the detected feature to cylindrical coordinates. The control, responsive at least in part to determining the cylindrical coordinates of the detected feature, determines a three-dimensional location of the trailer hitch at the vehicle.

26. 发明申请

US20210276557A1 VEHICULAR TRAILER HITCHING ASSIST SYSTEM 有权
公开(公告)号：US20210276557A1
公开(公告)日：2021-09-09
申请号：US17303188
申请日：2021-05-24
申请人： MAGNA ELECTRONICS INC.
发明人： Nikhil Gupta , Horst D. Diessner , Richard Bozich , Jyothi P. Gali , Aleksandar Stefanovic , Hilda Faraji , Miad Moarref , Xai Phan , Galina Okouneva , Brijendra Kumar Bharti
IPC分类号： B60W30/18 , B60W10/18 , B60W10/20 , B60W30/09 , G05D1/02 , B60R1/00 , G08G1/16 , B60W10/10
摘要： A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle. An electronic control unit (ECU) includes an image processor operable to process image data captured by the camera. The ECU, via image processing of image data captured by the camera, detects a trailer rearward of the vehicle and determines a first path of travel for the vehicle to follow to maneuver the vehicle toward the trailer and to align the tow ball of the vehicle with a trailer hitch of the trailer. The ECU generates an output to maneuver the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the ECU determines a second path of travel for the vehicle to follow that avoids the detected object entering the determined path of travel.

27. 发明授权

US11007934B2 Method for dynamically calibrating a vehicular camera 有权
公开(公告)号：US11007934B2
公开(公告)日：2021-05-18
申请号：US15929460
申请日：2020-05-04
申请人： MAGNA ELECTRONICS INC.
发明人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
IPC分类号： G06T7/80 , B60R1/06 , B60R1/00 , H04N17/00
摘要： A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.

28. 发明授权

US10930004B2 Trailer angle detection system for vehicle 有权
公开(公告)号：US10930004B2
公开(公告)日：2021-02-23
申请号：US16779819
申请日：2020-02-03
申请人： MAGNA ELECTRONICS INC.
发明人： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva , Akinyele O. Ikuseru
IPC分类号： G06K9/00 , G06T7/60 , B60R1/00 , G06T7/73 , G06T7/246
摘要： A method of detecting a trailer angle of a trailer being towed by a vehicle includes capturing frames of image data via a camera of the vehicle while the vehicle is towing a trailer, and, via processing by an image processor of frames of captured image data while the vehicle is towing the trailer, determining presence of the trailer being towed by the vehicle, and determining feature vectors of the trailer being towed by the vehicle. The feature vectors of the trailer are determined by determining features that have similar angular changes between a current frame of captured image data and a previous frame of captured image data. The angle of the trailer relative to the vehicle is determined responsive to tracking of determined feature vectors of the trailer present in the field of view of the camera over multiple frames of captured image data.

29. 发明授权

US10780827B2 Method for stitching images captured by multiple vehicular cameras 有权
公开(公告)号：US10780827B2
公开(公告)日：2020-09-22
申请号：US16693515
申请日：2019-11-25
申请人： MAGNA ELECTRONICS INC.
发明人： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
IPC分类号： B60R1/00 , G06K9/00 , H04N5/225 , H04N5/232 , G06T3/40
摘要： A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.

30. 发明申请

US20140247352A1 MULTI-CAMERA DYNAMIC TOP VIEW VISION SYSTEM 审中-公开
标题翻译：多摄像机动态顶视图系统
公开(公告)号：US20140247352A1
公开(公告)日：2014-09-04
申请号：US14191512
申请日：2014-02-27
申请人： Magna Electronics Inc.
发明人： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
IPC分类号： B60R1/00 , G06K9/00 , H04N5/265
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06T3/4038 , H04N5/2258 , H04N5/23229
摘要： A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.
摘要翻译：用于拼接由车辆的视觉系统的多个摄像机捕获的图像的动态图像拼接系统包括设置在车辆处并且具有车辆外部的第一视野的第一照相机和设置在车辆处的第二照相机，并且具有第二场的外观车辆。第一和第二视野至少部分重叠。处理器可操作以处理由第一和第二相机捕获的图像数据。处理器处理捕获的图像数据以确定存在于第一和第二视场的重叠区域中的特征或物体的特征。处理器可操作以响应于确定由第一相机拍摄的特征的特征与由第二相机拍摄的特征的特征之间的差异来调整拼接算法。

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