US 12,112,504 B2
Method, system, and computer program product for parallax estimation for sensors for autonomous vehicles
Michel Laverne, Pittsburgh, PA (US)
Assigned to Argo AI, LLC, Pittsburgh, PA (US)
Filed by Argo AI, LLC, Pittsburgh, PA (US)
Filed on Oct. 28, 2021, as Appl. No. 17/512,765.
Prior Publication US 2023/0132967 A1, May 4, 2023
Int. Cl. G06T 7/80 (2017.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G01S 7/497 (2006.01); H04N 17/00 (2006.01); H04N 23/695 (2023.01)
CPC G06T 7/80 (2017.01) [B60W 50/14 (2013.01); B60W 60/001 (2020.02); G01S 7/497 (2013.01); H04N 17/002 (2013.01); H04N 23/695 (2023.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for parallax estimation for sensors for autonomous vehicles performed by a parallax estimation and sensor placement system, comprising:
generating a two-dimensional grid based on a field of view of a first sensor of an autonomous vehicle, the grid comprising a plurality of points;
for each respective point of the plurality of points, determining a three-dimensional position of a respective intersection point between a first respective ray from the first sensor to the respective point of the plurality of points and a second respective ray from a second sensor of the autonomous vehicle, wherein a plurality of intersection points comprises each respective intersection point for each respective point of the plurality of points;
for each respective intersection point of the plurality of intersection points, determining a respective solid angle based on a first three-dimensional vector from the first sensor to the three-dimensional position of the respective intersection point and a second three-dimensional vector from the second sensor to the three-dimensional position of the respective intersection point;
generating a matrix based on a first distance from the first sensor to each respective intersection point, a second distance from the second sensor to each respective intersection point, and the solid angle for each respective intersection point;
extracting at least one metric from the matrix;
adjusting an arrangement of the first sensor and the second sensor based on the at least one metric; interpolating the two-dimensional grid based on the at least one metric; and
displaying a visual representation based on interpolating the two-dimensional grid, wherein displaying the visual representation comprises displaying a gradient of at least one of shades or colors based on the at least one metric across a two-dimensional image.