Patent Document ID: 9066085
Application ID: 13713445
Patent Status: 1

Claim One:
1. A method for aligning a stereo camera of a vehicle mounted object detection system, said system comprising a first camera and a second camera mounted spaced apart on a vehicle, said method comprising: determining a first position of an object in a first image from the first camera captured at a first time; determining a second position of the object in a second image from the second camera captured at the first time; determining an initial location of the object relative to the vehicle at the first time based on triangulation of the first image and the second image; determining a third position of the object in a third image from the first camera captured at a second time distinct from the first time; determining a fourth position of the object in a fourth image from the second camera captured at the second time; determining a subsequent location of the object relative to the vehicle at the second time based on triangulation of the third image and the fourth image; determining an observed displacement of the object relative to the vehicle based on a difference of the initial location and the subsequent location; determining a predicted displacement of the object relative to the vehicle based on one of a) a difference of vehicle position at the first time and the second time, and b) a difference of an initial size of the object in the first image and a subsequent size of the object in the third image; and determining a triangulation correction based on a difference of the observed displacement and the predicted displacement to correct for misalignment of the first camera and the second camera when determining object location based on triangulation of images from the first camera and the second camera.