	US 12,260,590 B2
	System and method for online camera to ground alignment
Xinyu Du, Oakland Township, MI (US); Yao Hu, Sterling Heights, MI (US); Binbin Li, College Station, TX (US); and Hao Yu, Troy, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Apr. 12, 2022, as Appl. No. 17/719,151.
Prior Publication US 2023/0326077 A1, Oct. 12, 2023
Int. Cl. G06K 9/00 (2022.01); B60W 40/04 (2006.01); G06T 7/80 (2017.01); G06V 10/40 (2022.01)

CPC G06T 7/80 (2017.01) [B60W 40/04 (2013.01); G06V 10/40 (2022.01); B60W 2420/403 (2013.01); G06T 2207/30252 (2013.01)]

20 Claims

1. A method of navigating a vehicle, comprising:

obtaining an original image data file of an environment at a camera conveyed by the vehicle;

reducing the original image data file to obtain a reduced image data file;

determining an alignment between a camera-centered coordinate system and a ground coordinate system using the reduced image data file; and

determining a weighted average value of the alignment using a confidence level of a moving average of the alignment for a plurality of frames of the reduced image data file.