JP2002140696A | 2002-05-17 | |||
US20210343044A1 | 2021-11-04 |
202102044 11 Patent claims 1. Computer-implemented method of determining and adjusting a camera pitch angle error of a vehicle camera acquiring images of a road plane, the camera having an initial pitch angle, c h a r a c t e r i z e d i n that the method comprises the following steps: Step1: acquiring from the camera of a current image of the road plane and representing the acquired image as total road plane pixels, Step 2: projecting the total road plane pixels of the current image from the road plane to a bird’s eye perspective of the road plane, outputting projected total road pixels, Step 3: selecting from the projected total road plane pixels the longitudinal lane marking pixels corresponding to a longitudinal lane marking, the longitudinal lane marking having a real lane marking width W expressed in pixels, Step 4: measuring the measured lane marking widths W1, W2, ... Wn at predetermined distances D1, D2, ..., Dn in respect to camera position along the selected lane marking and storing the measurements of the measured lane marking widths W1, W2, ... Wn corresponding to said predetermined distances D1, D2, ..., Dn, Step 5: computing for said current image a width difference between each measured lane marking width Wn and the precedent measured lane marking width Wn-1, computing for each width difference a width difference per meter Step 6: computing a mean of the width differences per meter corresponding to said image, comparing the mean of the width differences per meter with a predetermined mean width threshold, Step 7: if the absolute value of the mean of the width differences per meter is greater than the predetermined mean width threshold: correcting the initial pitch angle with a predefined correction coefficient parameter, outputting a corrected pitch angle, computing the mean of the width differences per meter corresponding to the corrected pitch angle, Step 8: determining the camera pitch angle error by computing the difference between the mean of the width differences per meter corresponding to the corrected pitch angle of step 7 and the mean of the width differences per meter corresponding the initial pitch angle of step 6, Internal 202102044 12 adjusting the camera pitch angle corresponding to the error and storing the camera pitch angle error for further use. 2. The method of claim 1 c h a r a c t e r i z e d i n that a predetermined number k of successive images is acquired in step 1, where k ≥2, comprising at least one pair of images comprising a current image k+1 and a precedent image k, the step 5 is further comprising computing the differences between the first measured lane marking width W1 k+1 of the current image k+1 and the last measured lane marking width Wn k of the precedent image k the step 6 is further comprising computing the mean of the width differences per meter corresponding to the predetermined number k of successive images, 3. The method of claim 1 or 2, c h a r a c t e r i z e d i n that the predetermined width threshold is expressed as a percentage. 4. The method of any of the precedent claims, c h a r a c t e r i z e d i n that if the mean of the width differences per meter has a positive value, the camera pitch angle has to be re-adjusted by increasing the camera pitch angle, or if the mean of the width differences per meter has a negative value, the camera pitch angle has to be re-adjusted by decreasing the camera pitch angle. 5. A hardware processing unit comprising one or more processors, at least one non-volatile memory and a non-transitory computer-readable storage medium, the hardware processing unit being configured to perform operations of the computer-implemented method according to any of the preceding claims 6. A non-transitory computer-readable storage medium encoded with a computer program, the computer program comprising instructions executable by one or more processors, the one or more processors being configured to perform operations of the computer-implemented method according to any of the claims 1 to 4. Internal |
AMENDED CLAIMS received by the International Bureau on 02 August 2023 (02.08.2023) Patent claims 1 . Computer-implemented method of determining and adjusting a camera pitch angle error of a vehicle camera acquiring images of a road plane, the camera having an initial pitch angle, the method comprising the following steps: Stepl : acquiring from the camera of a current image of the road plane and representing the acquired image as total road plane pixels, Step 2: projecting the total road plane pixels of the current image from the road plane to a bird’s eye perspective of the road plane, outputting projected total road pixels, Step 3: selecting from the projected total road plane pixels the longitudinal lane marking pixels corresponding to a longitudinal lane marking, the longitudinal lane marking having a real lane marking width VI/ expressed in pixels, Step 4: measuring the measured lane marking widths W1, W2, — Vl/n at predetermined distances Di, D2, ..., Dn in respect to camera position along the selected lane marking and storing the measurements of the measured lane marking widths W1, VI/?, ... Vl/n corresponding to said predetermined distances Di, D2, .... Dn, Step 5: computing for said current image a width difference between each measured lane marking width l/l/n and the precedent measured lane marking width Wn-i, computing for each width difference a width difference per meter Step 6: computing a mean of the width differences per meter corresponding to said image, comparing the mean of the width differences per meter with a predetermined mean width threshold, c h a r a c t e r i z e d i n that the method further comprises the following steps: Step 7: if the absolute value of the mean of the width differences per meter is greater than the predetermined mean width threshold: correcting the initial pitch angle with a predefined correction coefficient parameter, outputting a corrected pitch angle, computing the mean of the width differences per meter corresponding to the corrected pitch angle, Step 8: determining the camera pitch angle error by computing the ratio between the mean of the width differences per meter corresponding to the corrected pitch angle of step 7 and the mean of the width differences per meter corresponding the initial pitch angle of step 6, adjusting the camera pitch angle corresponding to the error and storing the camera pitch angle error for further use. 2. The method of claim 1 characterized in that a predetermined number k of successive images is acquired in step 1 , where k 2, comprising at least one pair of images comprising a current image k+1 and a precedent image k, the step 5 is further comprising computing the differences between the first measured lane marking width W7 k+1 of the current image k+1 and the last measured lane marking width Wnk of the precedent image k the step 6 is further comprising computing the mean of the width differences per meter corresponding to the predetermined number k of successive images, 3. The method of claim 1 or 2, characterized in that the predetermined width threshold is expressed as a percentage. 4. The method of any of the precedent claims, characterized in that if the mean of the width differences per meter has a positive value, the camera pitch angle has to be re-adjusted by increasing the camera pitch angle, or if the mean of the width differences per meter has a negative value, the camera pitch angle has to be re-adjusted by decreasing the camera pitch angle. 5. A hardware processing unit comprising one or more processors, at least one non-volatile memory and a non-transitory computer-readable storage medium, the hardware processing unit being configured to perform operations of the computer-implemented method according to any of the preceding claims 6. A non-transitory computer-readable storage medium encoded with a computer program, the computer program comprising instructions executable by one or more processors, the one or more processors being configured to perform operations of the computer-implemented method according to any of the claims 1 to 4. |
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