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Methods, systems, and apparatus for multi-sensory stereo vision for robotics

  • US 10,412,368 B2
  • Filed: 03/14/2014
  • Issued: 09/10/2019
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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1. A stereo vision system for an autonomous vehicle, the stereo vision system comprising:

  • a housing defining a cavity and at least one exterior surface;

    a unitary frame within the cavity, the unitary frame defining at least one mounting surface;

    a first imager, mounted to the at least one mounting surface, to acquire images of an environment from a first perspective;

    a second imager, mounted to the at least one mounting surface, to acquire images of the environment from a second perspective different than the first perspective;

    a collection of processing units, the collection of processing units including a processing unit disposed in the housing, wherein the collection of processing units is operable to;

    obtain a three-dimensional point cloud of the environment from a LIDAR system;

    generate a first disparity map based on images acquired by each of the first imager and the second imager;

    calibrate each of the first imager and the second imager, using each of the three-dimensional point cloud and the first disparity map, by determining a similarity between data from the three-dimensional point cloud of the environment and the first disparity map;

    generate a second disparity map based on images acquired by the calibrated first imager and the calibrated second imager; and

    determine information about the environment using the images acquired by the calibrated first imager, the calibrated second imager, the second disparity map and the three-dimensional point cloud.

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