US 11,893,707 B2
Vehicle undercarriage imaging
Stefan Johannes Josef Holzer, San Mateo, CA (US); Krunal Ketan Chande, San Francisco, CA (US); Matteo Munaro, San Francisco, CA (US); Pavel Hanchar, Minsk (BY); Aidas Liaudanskas, San Francisco, CA (US); Wook Yeon Hwang, San Francisco, CA (US); Johan Nordin, San Francisco, CA (US); Milos Vlaski, San Francisco, CA (US); Martin Markus Hubert Wawro, Dortmund (DE); Nick Stetco, San Francisco, CA (US); and Martin Saelzle, San Francisco, CA (US)
Assigned to Fyusion, Inc., San Francisco, CA (US)
Filed by Fyusion, Inc., San Francisco, CA (US)
Filed on Feb. 2, 2023, as Appl. No. 18/163,868.
Application 18/163,868 is a continuation of application No. 17/190,268, filed on Mar. 2, 2021, granted, now 11,605,151.
Prior Publication US 2023/0230203 A1, Jul. 20, 2023
Int. Cl. G06T 3/40 (2006.01); G06T 7/50 (2017.01); G06T 7/00 (2017.01)
CPC G06T 3/4038 (2013.01) [G06T 7/0004 (2013.01); G06T 7/50 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
capturing a plurality of images of an undercarriage of a vehicle, the images captured via one or more cameras, each camera being arranged in a respective fixed position, the images being captured as the vehicle moves over the one or more cameras;
determining a designated point cloud based on the plurality of images via a processor, the designated point cloud including a plurality of points positioned in a virtual three-dimensional space, the plurality of points including a first point and a second point;
determining a designated stitched image based on the designated point cloud via the processor, wherein the stitched image is determined by projecting the designated point cloud onto a virtual camera view and identifying a plurality of vehicle undercarriage feature correspondence points and a plurality of point correspondence transformations associating a first location of the first point in a first image with a second location of the second point in a second image; and
storing the designated stitched image on a storage device.