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

Claim 0:
1. A system comprising:
a data processor; and
a fisheye image processing system, executable by the data processor, the fisheye image processing system comprising an offline processing stage and an online processing stage, wherein the fisheye image processing system is configured to:
receive 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;
use the offline processing stage to pre-process the fisheye image data to generate one or more combined image transformations;
use the combined image transformations as an input to the online processing stage;
quickly remove distortion from each raw fisheye image frame in a fisheye image data set provided to the online processing stage using the combined image transformations; and
provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems;
wherein the online processing stage is configured to:

partition the raw fisheye image data into a second plurality of image portions representing portions of the fisheye image frame;
warp each of the second plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the warping comprising taking auto-calibration data as an input in addition to the second plurality of image portions;
produce distortion-reduced fisheye image data; and
provide the distortion-reduced fisheye image data to an autonomous vehicle control system for further processing.