US 12,444,084 B1
Vehicle vision system including camera to ground alignment using bird's eye view image
Mohsen Khalili, Sterling Heights, MI (US); Xinyu Du, Oakland Township, MI (US); Yao Hu, Sterling Heights, MI (US); Hao Yu, Troy, MI (US); and Xiaobo Guo, Northville, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jun. 24, 2024, as Appl. No. 18/752,148.
Int. Cl. G06T 7/80 (2017.01); G06T 5/80 (2024.01); G06T 7/246 (2017.01)
CPC G06T 7/80 (2017.01) [G06T 5/80 (2024.01); G06T 7/248 (2017.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vision system for a vehicle comprising:
a camera configured to generate one of distorted and undistorted images; and
an alignment system configured to:
generate a region of interest (ROI) for the camera;
generate a bird's eye view (BEV) homography to convert undistorted points in the ROI to BEV points;
generate a BEV image based on the one of distorted and undistorted images and one of the BEV homography and an updated BEV homography;
adaptively update the BEV homography to generate the updated BEV homography;
detect current locations of features in the BEV image;
predict future locations of the features for a next BEV image;
compare the current locations of the features in the BEV image with prior predicted locations; and
convert the BEV points in the BEV image to an undistorted points in a perspective undistorted image using an inverse of the updated BEV homography.