Ambarella International LP

Sicong Lyu

Liangliang Wang

Bo Yu

An apparatus comprises an interface and a processor. The interface may be configured to receive pixel data representing a first field of view of a camera and four-dimensional (4D) point cloud data representing a second field of view of a 4D imaging radar sensor. The first field of view of the camera and the second field of view of the 4D imaging radar sensor generally overlap. The processor may be configured to process the pixel data and the 4D point cloud data arranged as video frames and perform an extrinsic parameter calibration for the 4D imaging radar sensor and the camera based on adaptive projection error. The extrinsic parameter calibration may comprise applying a pose calibration process to the video frames. The pose calibration process may use (i) a respective translate vector and a respective rotation matrix for each of the 4D imaging radar sensor and the camera and (ii) a radar corner reflector to obtain configuration parameters for the first field of view of the camera and the second field of view of the 4D imaging radar sensor. The pose calibration process generally comprises capturing data for a plurality of positions of the radar corner reflector between a near-distance value and a long-distance value, and modifying a scale of a projection error of the radar corner reflector based on a size of the radar corner reflector in an image captured by the camera.

Extrinsic parameter calibration for 4D millimeter-wave radar and camera based on adaptive projection error

An apparatus comprises an interface and a processor. The interface may be configured to receive pixel data. The processor may be configured to (i) process the pixel data arranged as video frames, (ii) decompose each of the video frames comprising a high-resolution two-dimensional (2D) image into a plurality of 2D sub-images using a decomposition offset, (iii) decompose each of the video frames comprising a high-resolution depth map image into a plurality of depth map sub-images using the decomposition offset, (iv) calculate a respective alignment matrix for each of the plurality of 2D sub-images and a corresponding one of the plurality of depth map sub-images using the decomposition offset, (v) perform matrix operations on the plurality of 2D sub-images and the plurality of depth map sub-images using the respective alignment matrices to obtain a plurality of aligned 2D sub-images and depth map sub-images, (v) determine projection coordinates and depth values of the plurality of aligned 2D sub-images and depth map sub-images based on the high-resolution 2D image, and (vi) generate an aligned high-resolution depth map using the projection coordinates and depth values.

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Shanghai, China

Sicong Lyu