Vision system and method for a motor vehicle
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United States of America Patent
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Aug 30, 2022
Grant Date -
Oct 8, 2020
app pub date -
May 31, 2017
filing date -
Jun 1, 2016
priority date (Note) -
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Abstract
A vision system (10) for a motor vehicle with a stereo imaging apparatus (11) with imaging devices (12) adapted to capture images from a surrounding of the motor vehicle, and a processing device (14) adapted to process images captured by the imaging devices (12) and to detect objects, and track detected objects over several time frames, in the captured images. The processing device (14) is adapted to obtain an estimated value for the intrinsic yaw error of the imaging devices (12) by solving a set of equations, belonging to one particular detected object (30), using a non-linear equation solver method, where each equation corresponds to one time frame and relates a frame time, a disparity value of the particular detected object, an intrinsic yaw error and a kinematic variable of the vehicle.
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