Gm Global Technolgoy Operations, Inc.

Mark J Wolski

Wende Zhang

Hao Yu

Yousef A Omar

Systems and methods for generating alignment parameters for processing data associated with a vehicle. In one embodiment, a method includes: receiving image data associated with an environment of the vehicle; receiving lidar data associated with the environment of the vehicle; processing, by a processor, the image data to determine data points associated with at least one vehicle identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one vehicle identified within the lidar data; selectively storing the data points in a data buffer based on at least one condition associated with a quality of the data points; processing, by the processor, the data points in the data buffer with a joint analysis method to generate alignment parameters between the lidar and the camera; and processing future data based on the alignment parameters.

Methods and systems for two-phase camera to lidar alignment

A method for vehicle clear path detection using a camera includes imaging a ground area in front of the vehicle with the camera to produce a ground image and analyzing the ground image to formulate a clear path free of objects limiting travel of the vehicle.

Vehicle clear path detection

A system and method for calibrating a camera on a vehicle as the vehicle is being driven. The method includes identifying at least two feature points in at least two camera images from a vehicle that has moved between taking the images. The method then determines a camera translation direction between two camera positions. Following this, the method determines a ground plane in camera coordinates based on the corresponding feature points from the images and the camera translation direction. The method then determines a height of the camera above the ground and a rotation of the camera in vehicle coordinates.

Self calibration of extrinsic camera parameters for a vehicle camera

A method is provided for detecting a pedestrian exterior to a vehicle by use of a vehicle-mounted image-based monitoring system. An edge-based pedestrian detection analysis is applied to the input image data to determine an edge-based confidence value of a candidate image area being a pedestrian. A motion-based pedestrian detection analysis is applied to the input image data to determine a motion-based confidence value of a candidate image area being a pedestrian. A final confidence value is obtained by combining the edge-based confidence value and motion-based confidence value using weighting factors that are functions of vehicle speed. The final confidence value is compared to a threshold value for determining whether to generate a warning that a pedestrian may be present in the input image data.

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Warren, MI, United States of America

Mark J Wolski