Continental Automotive Gmbh

Continental Autonomous Mobility Germany Gmbh

Application Solutions (electronics and Vision) Ltd.

Aumovio Autonomous Mobility Germany Gmbh

Robin Plowman

Lingjun Gao

David Bamber

The present disclosure relates to a method for determining the yaw angle of a trailer with respect to the longitudinal axis of a towing vehicle based on at least one feature included in multiple captured images by providing multiple algorithms for calculating at least one angle estimation.

Method and system for calculating vehicle trailer angle

A method for calculating a tow hitch position of a trailer is presented. A first and a second image of the trailer is captured and a trailer rotation and translation relative to a known zero pose of the trailer based on the captured first and second images is calculated. The rotation axes of the trailer in the first and second image is calculated based on the calculated trailer rotations and translations. An intersection of the first and second rotation axis is calculated to determine a ray to the tow hitch position. The ray to the tow hitch position and a geometrical condition are used to calculate the tow hitch position.

Method for calculating a tow hitch position

In a system and a method for extrinsic calibration of an image capture apparatus of a vehicle, the vehicle includes a vehicle body and a movable part configured to rotate around a known rotation axis relative to the vehicle body. The system includes an image capture apparatus having an image capture device mounted on the vehicle body and configured to capture at least two images of the movable part, an identification unit configured to identify at least two image features in the images, a calculation unit configured to calculate a calculated direction of the rotation axis relative to the image capture device based on the image features, and a calibration unit configured to determine extrinsic parameters of the image capture apparatus based on the calculated direction of the rotation axis relative to the image capture device and the known parameters of the rotation axis relative to the vehicle.

Static camera calibration using motion of vehicle portion

A method for estimating a range of a moving object (MO) includes steps of capturing (S) images of a surrounding by a camera (), processing (S) features of captured images to determine a bearing of a moving object (MO) based on a detected cluster of features belonging to the moving object (MO) within the captured images, and estimating (S) a range of the moving object (MO) based on determined ground features belonging to a ground plane (GP) along the determined bearing of the moving object (MO) which are not occluded by the moving object (MO).

Method and apparatus for estimating a range of a moving object

This disclosure relates to a method in which points common to two or more of the images that appear to represent the same real world features are identified, and changes in the location of the points between respective images are used to deduce the motion of the camera and to find the position of the real world features in three dimensional space. In order to determine the scale of the three dimensional information, the position of a reference feature, whose actual distance from the camera is known, is found from the images. The reference feature is found by considering only candidate points selected from candidate points falling within a portion of the image corresponding to a part of the field of view of the camera. The scale is determined from the distance between the camera and the reference feature in the image and in real life.

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Southwick, United Kingdom

Robin Plowman