Abstract: A method includes obtaining multiple images of a scene using an imaging sensor associated with a vehicle, where the images of the scene capture lane marking lines associated with a traffic lane in which the vehicle is traveling. The method also includes identifying, in each of at least some of the images, a vanishing point based on the lane marking lines captured in the image. The method further includes identifying an average position of the vanishing points in the at least some of the images. In addition, the method includes determining one or more extrinsic calibration parameters of the imaging sensor based on the average position of the vanishing points. The one or more extrinsic calibration parameters of the imaging sensor may include a pitch angle and a yaw angle of the imaging sensor.

Abstract: A method includes obtaining an image of a scene using an imaging sensor on a vehicle, where the image captures at least one of: one or more objects around the vehicle or one or more lane marking lines. The method also includes identifying extrinsic calibration parameters associated with the imaging sensor. The method further includes, for a specified pixel in the image, converting a position of the specified pixel within a pixel coordinate system associated with the image to a corresponding position within a road coordinate system based on the extrinsic calibration parameters. The specified pixel represents a point in the image associated with at least one of the one or more objects or the one or more lane marking lines. In addition, the method includes identifying a distance to the point in the image based on the corresponding position of the specified pixel within the road coordinate system.

Abstract: A method includes obtaining multiple images of a scene using an imaging sensor associated with a vehicle, where the images of the scene capture lane marking lines associated with a traffic lane in which the vehicle is traveling. The method also includes identifying, in each of at least some of the images, a vanishing point based on the lane marking lines captured in the image. The method further includes identifying an average position of the vanishing points in the at least some of the images. In addition, the method includes determining one or more extrinsic calibration parameters of the imaging sensor based on the average position of the vanishing points. The one or more extrinsic calibration parameters of the imaging sensor may include a pitch angle and a yaw angle of the imaging sensor.

Abstract: A method includes obtaining multiple images of a driver of a vehicle using an imaging sensor associated with the vehicle, where the images of the driver capture the driver's head. The method also includes identifying, in each of at least some of the images, an orientation of the driver's head in the image. The method further includes identifying an average orientation of the driver's head based on at least some of the identified orientations of the driver's head. In addition, the method includes determining whether the driver is inattentive based on the average orientation of the driver's head. Identifying, in each of at least some of the images, the orientation of the driver's head in the image may include identifying a pitch angle and a yaw angle of the driver's head in the image.