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公开(公告)号：US20220262130A1
公开(公告)日：2022-08-18
申请号：US17660430
申请日：2022-04-25
Applicant: Magna Electronics Inc.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A vehicular vision system includes a camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle. The vehicular vision system, responsive at least in part to image processing of multiple frames of captured image data, detects an object present exterior of the vehicle that is moving relative to the vehicle. The system, when the vehicle is moving, and based at least in part to received vehicle motion data indicative of motion of the vehicle when the vehicle is moving and image processing of multiple frames of captured image data, (i) estimates object trajectory of the detected object based at least in part on corresponding object features present in multiple frames of image data captured by the camera and (ii) determines motion of the detected object relative to the moving vehicle based on the estimated object trajectory.
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公开(公告)号：US11332124B2
公开(公告)日：2022-05-17
申请号：US16738561
申请日：2020-01-09
Applicant: Magna Electronics Inc.
Inventor： Mahdi Marsousi , Harold E. Joseph , Nikhil Gupta , Alexander Velichko
Abstract: A vehicular sensing system includes a plurality of sensors disposed at a vehicle so as to have a combined field of sensing forward, rearward and sideward of the vehicle. Data captured by the sensors is processed at a control to detect objects present in a respective field of sensing. A control designates a plurality of locations within the fields of sensing. As the vehicle moves along the road, the control increases a value for each designated location when an object is detected at that designated location and decreases the value for each designated location when an object is not detected at that designated location. The control, as the vehicle moves along the road, generates an object map based on values for the designated locations. The greater the value for a particular designated location, the greater the probability an object is present at that particular designated location.
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公开(公告)号：US20210224561A1
公开(公告)日：2021-07-22
申请号：US17301477
申请日：2021-04-05
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A vehicular vision system includes a camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle. The control, responsive at least in part to image processing by an image processor of multiple frames of captured image data, detects an object present exterior of the equipped vehicle that is moving relative to the equipped vehicle. The control receives vehicle motion data indicative of motion of the vehicle when the vehicle is moving. The control, responsive at least in part to the received vehicle motion data, and via image processing of multiple frames of captured image data, determines motion of the detected object relative to the moving vehicle by (i) determining corresponding object points in at least two frames of captured image data and (ii) estimating object motion trajectory of the detected object based at least in part on the determined corresponding object points.
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公开(公告)号：US10970568B2
公开(公告)日：2021-04-06
申请号：US15929571
申请日：2020-05-11
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A vehicular vision system includes a camera disposed at a vehicle and viewing exterior of the vehicle. A control has an image processor for processing frames of image data captured by the camera. The control receives vehicle motion data indicative of motion of the vehicle when the vehicle is moving. When the vehicle is moving, the control, responsive at least in part to image processing of multiple frames of captured image data, detects an object present exterior of the vehicle. The control, responsive at least in part to the received vehicle motion data and image processing of multiple frames of captured image data, determines motion of the detected object relative to the moving vehicle by (i) determining corresponding object points in at least two frames of captured image data and (ii) estimating object motion trajectory of the detected object based at least in part on the determined corresponding object points.
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公开(公告)号：US20200276939A1
公开(公告)日：2020-09-03
申请号：US15929700
申请日：2020-05-18
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for calibrating a vehicular camera includes providing at least a front or rear camera and a side camera with overlapping fields of view, and calibrating the front or rear camera, capturing a calibrated frame of image data with the front or rear camera, and capturing a sideward frame of image data with a side camera. At least one feature is determined present in the overlapping region of the calibrated frame, and pixel positions of the determined feature are predicted for the side camera. Misalignment of the side camera is determined based on a comparison of the predicted pixel positions of the determined feature to the pixel positions of the determined feature in the sideward frame of image data captured by the side camera. Processing of image data captured by the side camera is adjusted to accommodate the determined misalignment.
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Patent Agency Ranking
公开(公告)号：US10654423B2
公开(公告)日：2020-05-19
申请号：US15830116
申请日：2017-12-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
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公开(公告)号：US10452931B2
公开(公告)日：2019-10-22
申请号：US16055262
申请日：2018-08-06
Applicant: Magna Electronics Inc.
Inventor： Nikhil Gupta
IPC: G06K9/00 , G06T7/246 , G06T7/80 , G06T7/73 , G06T7/13 , B60R1/00 , G06K9/46 , H04N7/18 , G06K9/62 , G06T5/00
Abstract: A method of distinguishing a three dimensional object from a two dimensional object using a vehicular system includes acquiring image frames captured by a vehicle camera while the vehicle is in motion. First and second feature points are selected from a first detected object in a first captured image frame and tracked in at least a second captured image frame. Third and fourth feature points are selected from a second detected object in the first captured image frame and tracked over at least the second captured image frame. Movements of the first and second feature points over the multiple captured image frames are compared to movements of the third and fourth feature points the multiple captured image frames to distinguish the first object as a three dimensional object and the second object as a two dimensional object.
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公开(公告)号：US20190168670A1
公开(公告)日：2019-06-06
申请号：US16266178
申请日：2019-02-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality 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 vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
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公开(公告)号：US10202077B2
公开(公告)日：2019-02-12
申请号：US15161711
申请日：2016-05-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: 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 while 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.
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公开(公告)号：US10179543B2
公开(公告)日：2019-01-15
申请号：US14191512
申请日：2014-02-27
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: 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.
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