Invention Grant
- Patent Title: Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment
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Application No.: US15701409Application Date: 2017-09-11
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Publication No.: US11158088B2Publication Date: 2021-10-26
- Inventor: Bolun Zhang , Yi Wang , Ke Xu
- Applicant: TuSimple, Inc.
- Applicant Address: US CA San Diego
- Assignee: TuSimple, Inc.
- Current Assignee: TuSimple, Inc.
- Current Assignee Address: US CA San Diego
- Agency: Perkins Coie, LLP
- Agent Paul Liu; Julie J. Muyco
- Main IPC: G06T7/80
- IPC: G06T7/80 ; B60R1/00

Abstract:
A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.
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