Patent ID: 11935210
Assignee: TUSIMPLE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 8:
9. A method comprising:
receiving fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame;
partitioning each frame of the at least one fisheye image frame into a plurality of image portions representing portions of the fisheye image frame;
warping each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view;
processing the warped plurality of image portions to produce a first transformation;
stitching together each of the warped plurality of image portions to form a combined resulting fisheye image data set;
processing the combined resulting fisheye image data set to produce a second transformation;
generating auto-calibration data representing a combination of the first transformation and the second transformation;
providing the auto-calibration data to an online processing stage of an imaging processing module;
providing raw fisheye image data from the at least one fisheye lens camera associated with an autonomous vehicle to the online processing stage;
partitioning, by the online processing stage, the raw fisheye image data into a second plurality of image portions representing portions of the fisheye image frame;
warping, by the online processing stage, each of the second plurality of image portions to map the arc of the camera projected view into a line corresponding to a mapped target view, the warping comprising taking the auto-calibration data as an input in addition to the second plurality of image portions;
producing distortion-reduced fisheye image data; and
providing the distortion-reduced fisheye image data to an autonomous vehicle control system for further processing.