US 12,415,527 B2
Range sensor based calibration of roadside cameras in ADAS applications
Kamran Ali, 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 Jul. 14, 2023, as Appl. No. 18/352,666.
Prior Publication US 2025/0018960 A1, Jan. 16, 2025
Int. Cl. B60W 50/00 (2006.01); B60W 50/04 (2006.01); B60W 50/06 (2006.01); G06T 7/80 (2017.01)
CPC B60W 50/04 (2013.01) [B60W 50/06 (2013.01); G06T 7/80 (2017.01); B60W 2050/0052 (2013.01); B60W 2050/0088 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for range sensor-based calibration of roadside cameras comprising:
one or more roadside cameras, the roadside cameras fixedly mounted to infrastructure and having a first field of view of at least a portion of a roadway;
one or more range sensors, the range sensors fixedly mounted to infrastructure and having a second field of view of at least a portion of a roadway, wherein the first and second fields of view at least partially overlap;
one or more controllers, each of the one or more controllers having a processor, a memory, and one or more input/output (I/O) ports, the I/O ports in communication with the one or more range sensors and the one or more roadside cameras; the memory storing programmatic control logic; the processor executing the programmatic control logic; the programmatic control logic including:
a first control logic for causing each of the one or more roadside cameras to capture image data, and for causing each of the range sensors to capture range sensor data;
a second control logic that filters the image data to focus on a first region of interest (ROI), and that filters the range sensor data to focus on a second ROI;
a third control logic that filters the image data to focus on a first movement of interest (MOI), and that filters the range sensor data to focus on a second MOI;
a fourth control logic that filters the image data to focus on a first object of interest (OOI), and that filters the range sensor data to focus on a second OOI;
a fifth control logic that filters the image data to focus on a first position of interest (POI), and that filters the range sensor data to focus on a second POI;
a sixth control logic that selectively determines that objects detected by the roadside camera and by the range sensor satisfy both the first and second ROI, MOI, OOI, and POI filters and defines the objects as matching objects;
a seventh control logic that saves the matching objects in the memory for calibration; and
an eighth control logic that calibrates the roadside camera by applying a correction factor based on the matching objects, so that the roadside camera accurately and precisely reports locations and movements of the matching objects for use in ADAS applications.