Method and apparatus for the alignment of multi-aperture systems
First Claim
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1. A sensor alignment system for establishing and maintaining accurate alignment of optical sensors comprising:
- multiple image sensors collocated on a common substrate and mounted on an automotive vehicle for gathering object data around the vehicle using optical information;
a first micro inertial sensor included with the sensors that measures at least one of rotation rate and acceleration along two or more axes of the sensors for the establishment of a sensor reference frame;
a second micro inertial sensor mounted on the vehicle that measures at least one of rotation rate and acceleration along two or more axes of the vehicle for the establishment of a vehicle reference frame; and
a processor determining an amount of misalignment of the sensor reference frame with the vehicle reference frame and aligning sensor target data with the vehicle reference frame according to the amount of misalignment.
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Abstract
A vehicle sensor system consisting of video, radar, ultrasonic or laser sensors, oriented to obtain a 360 degree view around the vehicle for the purpose of developing a situation or scene awareness. The sensors may or may not have overlapping field of views, or support the same applications, but data will be shared by all. Orientation of the sensor to the vehicle body coordinates is critical in order to accurately assess threat and respond. This system describes methods based on measuring force and rotation on each sensor and computing a dynamic alignment to first each other, then second to the vehicle.
246 Citations
33 Claims
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1. A sensor alignment system for establishing and maintaining accurate alignment of optical sensors comprising:
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multiple image sensors collocated on a common substrate and mounted on an automotive vehicle for gathering object data around the vehicle using optical information; a first micro inertial sensor included with the sensors that measures at least one of rotation rate and acceleration along two or more axes of the sensors for the establishment of a sensor reference frame; a second micro inertial sensor mounted on the vehicle that measures at least one of rotation rate and acceleration along two or more axes of the vehicle for the establishment of a vehicle reference frame; and a processor determining an amount of misalignment of the sensor reference frame with the vehicle reference frame and aligning sensor target data with the vehicle reference frame according to the amount of misalignment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A multi-sensor system, comprising;
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multiple sensors integrated onto a singular substrate forming a unitary multi-sensor platform that provides a known consistent physical relationship between the multiple sensors, a micro inertial sensor included with the sensors that measures rotation rate and acceleration along two or more axes of the sensor for the establishment of a sensor reference frame; a processor configured to; determine an amount of misalignment of the sensor reference frame with a vehicle body reference frame; aligning sensor target data with the vehicle body reference frame according to the amount of misalignment; correlate data from the sensors to identify and track objects that may come within a certain vicinity of a vehicle. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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Specification