PATENT CLAIM ANALYSIS

Application Number: 16023571
Application Type: Utility
Filing Date: 2018-06
Publication Date: 2020-01
Patent Classification: ["348", "118000"]

Abstract:
This disclosure is directed to calibrating sensors mounted on an autonomous vehicle. First image data and second image data representing an environment can be captured by first and second cameras, respectively (and or a single camera at different points in time). Point pairs comprising a first point in the first image data and a second point in the second image data can be determined and projection errors associated with the points can be determined. A subset of point pairs can be determined, e.g., by excluding point pairs with the highest projection error. Calibration data associated with the subset of points can be determined and used to calibrate the cameras without the need for calibration infrastructure.

Claim (Index 1):
A system comprising:\n a vehicle configured to traverse through an environment, the vehicle comprising:\n a plurality of cameras disposed on a body of the vehicle such that fields of view of at least two of the cameras at least partially overlap; \n one or more processors; and computer-readable media storing instructions executable by the one or more processors, wherein the instructions cause the system to perform operations comprising:\n receiving a set of images from the plurality of cameras, the set of images comprising images representing the environment captured by the plurality of cameras, \n determining, for the set of images, a plurality of point pairs, each of the point pairs comprising a first point in one of the images of the set of images and a second point in another of the images of the set of images, the first point and the second point corresponding to a same image feature; \n determining errors associated with the plurality of point pairs, the errors comprising, at least in part, a distance between the first point and an epipolar line corresponding to the second point; \n determining, based at least in part on the errors, a subset of the plurality of point pairs; \n determining, from the subset of the plurality of point pairs, a correction function representative of a misalignment of an estimated relative pose of the cameras; and \n calibrating the plurality of cameras, based at least in part on the correction function.

Metadata:
- Claim Count in Document: 7.0
- Percentile: 94.0
- Lexical Diversity: 1.95312
- Patent Class: 348.0
- Transitional Phrase Type: open
- Component Type: 1
- Foreign Priority: False
- Related Applications: ['16023507', '15844995', '15855144', '15641113', '15891951']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.6034950746493859
- 35 USC 102 Novelty (BERT): 0.4915635399507966
- Combined Prediction Score: 0.592301921179527
- Mean Citation Score: 172.268038
- Max Citation Score: 284.13248
- Similarity Product: 272.68949103469845

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 0
- Claim Label 112: 0
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test