US 12,094,220 B2
Methods and systems for camera to ground alignment
Binbin Li, College Station, TX (US); Xinyu Du, Oakland Township, MI (US); Yao Hu, Sterling Heights, MI (US); Hao Yu, Troy, MI (US); and Wende Zhang, Birmingham, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Feb. 16, 2022, as Appl. No. 17/651,405.
Prior Publication US 2023/0260291 A1, Aug. 17, 2023
Int. Cl. G06K 9/00 (2022.01); B60W 30/02 (2012.01); G06V 20/56 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 30/025 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for a vehicle, the method comprising:
receiving image data defining a plurality of images associated with an environment of the vehicle;
determining, by a processor, feature points within at least one image of the plurality of images;
selecting, by the processor, a subset of the feature points as ground points;
determining, by the processor, a ground plane based on the subset of feature points;
determining, by the processor, a ground normal vector from the ground plane;
determining, by the processor, the ground normal vector based on a sliding widow method, wherein the sliding window method comprises minimizing a computed transfer distance over a sliding window;
determining, by the processor, a camera to ground alignment value based on the ground normal vector; and
generating, by the processor, second image data based on the camera to ground alignment value.