公开(公告)号：US11138447B2

公开(公告)日：2021-10-05

申请号：US15995810

申请日：2018-06-01

Applicant: Connaught Electronics Ltd.

Inventor： Ashok Dahal ,  Matthias Lenk ,  Michael Starr

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/246 ,  G06T7/12

Abstract: A method is disclosed for detecting raised pavement markers in an environment of a vehicle by a camera system. The method includes capturing at least one first image of at least one first part of the environment by at least one first camera of the camera system and analyzing the at least one first image and determining whether at least one first pavement marker is present in the environment in dependency of a result of the analysis of the at least one first image. The method further includes capturing at least one second image of at least one second part of the environment by at least one second camera of the camera system and analyzing the at least one second image and determining whether the at least one first or at least one second pavement marker is present in the environment in dependency of a result of the analysis.

公开(公告)号：US12217444B2

公开(公告)日：2025-02-04

申请号：US17784896

申请日：2020-12-08

Applicant: Connaught Electronics Ltd.

Inventor： Ciaran Hughes ,  Pantelis Ermilios ,  Matthias Lenk ,  Sunil Chandra

IPC: G06T7/579 ,  G06T7/593 ,  H04N13/221 ,  H04N13/243

Abstract: A method for forming a point cloud corresponding to the topography of an imaged environment involves acquiring an image of the environment with a camera having a WFOV lens mounted on a vehicle; changing the camera pose by an adjustment greater than a threshold; and acquiring another image of the environment with the camera at the changed pose. The images are mapped onto respective surfaces to form respective mapped images, defined by the same nonplanar geometry. One of the mapped images is divided into blocks of pixels. For each block, a depth map is formed by performing a search through the other mapped image to evaluate a disparity in the position of the location of the block of pixels in each of the mapped images. The depth map is converted into a partial point cloud corresponding to the local topography of the environment surrounding the vehicle as it moves through the environment.

公开(公告)号：US20230351625A1

公开(公告)日：2023-11-02

申请号：US17784896

申请日：2020-12-08

Applicant: Connaught Electronics Ltd.

Inventor： Ciaran Hughes ,  Pantelis Ermilios ,  Matthias Lenk ,  Sunil Chandra

IPC: G06T7/579 ,  G06T7/593 ,  H04N13/243 ,  H04N13/221

CPC classification number: G06T7/579 ,  G06T7/593 ,  H04N13/243 ,  H04N13/221 ,  G06T2207/30252 ,  G06T2207/20021 ,  G06T2207/10028

Abstract: A method for forming a point cloud corresponding to the topography of an imaged environment involves acquiring an image of the environment with a camera having a WFOV lens mounted on a vehicle; changing the camera pose by an adjustment greater than a threshold; and acquiring another image of the environment with the camera at the changed pose. The images are mapped onto respective surfaces to form respective mapped images, defined by the same nonplanar geometry. One of the mapped images is divided into blocks of pixels. For each block, a depth map is formed by performing a search through the other mapped image to evaluate a disparity in the position of the location of the block of pixels in each of the mapped images. The depth map is converted into a partial point cloud corresponding to the local topography of the environment surrounding the vehicle as it moves through the environment.