US 12,093,040 B2
System and method for calibrating an autonomous vehicle camera
David Bernstein, San Francisco, CA (US)
Assigned to Pronto.AI, Inc., San Francisco, CA (US)
Filed by KACHE.AI, San Francisco, CA (US)
Filed on Feb. 20, 2020, as Appl. No. 16/796,785.
Application 16/796,785 is a continuation of application No. 16/511,968, filed on Jul. 15, 2019.
Application 16/796,785 is a continuation of application No. PCT/US2019/041720, filed on Jul. 12, 2019.
Claims priority of provisional application 62/697,946, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,957, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,962, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,960, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,930, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,919, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,965, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,915, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,922, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,912, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,940, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,971, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,938, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,969, filed on Jul. 13, 2018.
Claims priority of provisional application 62/697,952, filed on Jul. 13, 2018.
Prior Publication US 2020/0192380 A1, Jun. 18, 2020
Int. Cl. G05D 1/00 (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 1/692 (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)] 15 Claims
OG exemplary drawing
 
1. A method comprising: determining if one or more calibration parameters are available for an image acquisition device; if the one or more calibration parameters are not available for the image acquisition device: obtaining an image from the image acquisition device; determining a vanishing point for the image; comparing the vanishing point to a center point of the image; modifying at least one of the one or more calibration parameters based on the determined vanishing point being different than the center point for the image; and modifying processing of a subsequent image, with the one or more calibration parameters that compensate for the vanishing point being different than the center point for the image, to change a steering output; wherein the one or more calibration parameters include pitch and yaw of the image acquisition device; wherein the pitch is a first number of pixels, in a vertical direction, the center point of an image is from the vanishing point; and wherein the yaw is a second number of pixels, in a horizontal direction, the center point of an image is from the vanishing point.