US 12,298,764 B2
System and method for calibrating camera data using a second image sensor from a second vehicle
Anthony Levandowski, San Francisco, CA (US); and Eli Riggs, San Francisco, CA (US)
Assigned to PRONTO.AI, INC., San Francisco, CA (US)
Filed by PRONTO.AI, INC., San Francisco, CA (US)
Filed on Feb. 20, 2020, as Appl. No. 16/796,794.
Application 16/796,794 is a continuation of application No. 16/511,968, filed on Jul. 15, 2019, granted, now 11,994,861.
Application 16/796,794 is a continuation of application No. PCT/US2019/041720, filed on Jul. 12, 2019.
Claims priority of provisional application 62/697,915, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,919, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,922, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,930, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,938, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,940, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,946, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,952, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,957, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,960, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,962, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,965, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,969, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,971, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,912, filed on Jul. 13, 2018.
Prior Publication US 2020/0192381 A1, Jun. 18, 2020
Int. Cl. G05D 1/00 (2024.01); G05D 1/227 (2024.01); G05D 1/692 (2024.01); G05D 1/81 (2024.01); G06N 20/00 (2019.01); G06T 7/292 (2017.01); G06T 7/593 (2017.01); G06T 7/80 (2017.01); H04N 13/246 (2018.01)
CPC G05D 1/0088 (2013.01) [G05D 1/0287 (2013.01); G05D 1/227 (2024.01); G05D 1/692 (2024.01); G05D 1/81 (2024.01); G06N 20/00 (2019.01); G06T 7/292 (2017.01); G06T 7/593 (2017.01); G06T 7/80 (2017.01); G06T 7/85 (2017.01); H04N 13/246 (2018.05); G06T 2207/10012 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a first image from a first image acquisition device mounted to a first vehicle that is moving;
identifying one or more first features in the first image;
obtaining one or more first parameters associated with the identified one or more first features;
sending the first image and the one or more first parameters associated with the identified one or more first features to a second image acquisition device mounted to a second vehicle;
preparing calibration information, based on the first image, for one or more of the identified one or more first features from/by the second image acquisition device, the calibration information including at least a suggested location for a vanishing point;
receiving the calibration information at the first image acquisition device and
calibrating the first image acquisition device based on the one or more first parameters and the calibration information from the second image acquisition device by comparing the one or more of the identified second features from the second image acquisition device with the one or more identified first features from the first image acquisition device.