US 12,474,718 B1
Undercarriage imaging rover
Victor Tang, Flower Mound, TX (US); Priyam Dalwadi, Addison, TX (US); Raveena Jadhav, Addison, TX (US); Akshay Ganesh, Addison, TX (US); William An, Arlington, TX (US); and Nikhil Ajay Kadalge, Irving, TX (US)
Assigned to Copart, Inc., Dallas, TX (US)
Filed by Copart, Inc., Dallas, TX (US)
Filed on May 7, 2025, as Appl. No. 19/201,405.
Int. Cl. G05D 1/227 (2024.01); G05D 1/222 (2024.01); G06T 7/00 (2017.01)
CPC G05D 1/2279 (2024.01) [G05D 1/222 (2024.01); G06T 7/0004 (2013.01); G06T 2207/10016 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus for scanning an undercarriage of a vehicle, comprising:
a rover for moving back and forth under the vehicle;
at least one processor for generating control signals to control movement of the rover and to control capture of a video of the undercarriage of the vehicle;
a drive system responsive to the control signals from the processor for moving the rover back and forth under the vehicle;
a camera for capturing the video of the undercarriage of the vehicle as the rover moves under the vehicle in a first direction;
wherein the at least one processor is further configured to:
receive the video from the camera of the undercarriage of the vehicle;
separate the video from the camera into a plurality of segments, each of the segments including at least one portion that overlaps with an adjacent segment of the plurality of segments;
process each of the plurality of segments in parallel to generate a stacked image of each of the plurality of segments, the stacked image comprising a single image slice from each frame of a segment stacked together into the stacked image;
connect each of the stacked images together to generate a single stacked image of the undercarriage of the vehicle; and
divide the single stacked image into a plurality of horizontal segments;
apply parabolic scaling factors to each of the plurality of horizontal segments of the single stacked image to generate a single image of the undercarriage of the vehicle.