TEXAS INSTRUMENTS INCORPORATED (Dallas, TX)

Techniques involve receiving a deformed picture from a camera placed around a vehicle, identifying the corner points of an object of interest in the image that has been distorted and mapping them back into the distortion corrected domain using the camera’s parameters. Interpolating two or more intermediate points to make lines between the corner points of the distortion correcteddomain mapping the corners points and the lines among the corner points back to a distortion corrected domain using camera parameters. Modifying the direction of travel in accordance with on the position of the target object.

Increasingly, vehicles, such as cars, robots, aircrafts., are becoming increasingly automated and are able to carry out various activities independently, without having to be directly controlled by a person. One example of an autonomous vehicle is the ability to park the vehicle in a pre-determined parking area.

For autonomous operation, a number of sensors may be mounted on a vehicle. These sensors could comprise cameras that are sensitive to a variety of electromagnetic frequencies, including visible light as well as near and far infrared. The cameras could also have lenses with some amount of intentional distortion, like wide-angle or fisheye lenses, which can allow for an expanded field of view as compared to other lenses with smaller distortion.

This disclosure relates to an approach. It involves receiving a deformed image from a camera placed around a vehicle, detecting the corner points of a target object, mapping those cornerpoints to an adistortion correct domain based on one or more camera parameter and then interpolating one or more intermediate points to create lines connecting the cornerpoints within the realm of distortion correction, mapping the corners points as well as the lines that connect them back to a distortion domain using camera’s parameters, locating the target item in the lines, and then altering the direction of the vehicle’s targeted object

Another aspect of the disclosure relates to a non-transitory program storage device that includes instructions that are stored on it to trigger one or more processors to detect a distorted image, detect, in the image with distortion the corner points associated with parking spots and map these corner points to an area that is distortion corrected using one or more camera parameters, then interpolate some or more intermediate points to create lines between the corner points within the domain that has been corrected for distortion, draw the corner points and lines between them back to a distortion corrected domain in accordance with the camera parameters, find the target object in the image that is distorted, by analyzing the pixels in the lines and output the instructions for changing the direction of travel based on the object being located.

Another aspect of the present disclosure relates to an automobile that is capable of detecting parking spots, the vehicle including at least one camera disposed on the vehicle, as well as a memory as well as one or more processors coupled to the memory, and the cameras in which the one or several processors are configured to execute non-transitory instruction that causes the one or more processors to receive a distorted image from the camera or cameras, detect, in the distorted image, corner pointsassociated with a parking spot, map the corner points to a domain that is distortion corrected based on a camera parameter, map the corner points to a distortion corrected domain based on one or more parameters of the camera and interpolate one or two intermediate points to create lines connecting the corner points within the distortion corrected domain, create the corner points as well as lines connecting the corners back to an undistorted domain using the parameters of the camera, find the object of interest in the image that has been distorted by analyzing the pixels in the lines and then output one or more directions for adjusting a direction of travel in accordance with the location of the object to be targeted.

The techniques described in this article can be utilized with visible light cameras only, it is not intended that this disclosure restricts these techniques to other types of sensors. Instead, the methods discussed in this disclosure are applicable to the entire spectrum of sensor devices, including, non-visible light or electromagnetic sensors, including infraredand near-infrared cameras, or those capable of taking pictures across a wide range of electromagnetic frequencies.

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