Patents by Inventor Hilda Faraji

Hilda Faraji has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10780827
    Abstract: A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.
    Type: Grant
    Filed: November 25, 2019
    Date of Patent: September 22, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20200276939
    Abstract: A method for calibrating a vehicular camera includes providing at least a front or rear camera and a side camera with overlapping fields of view, and calibrating the front or rear camera, capturing a calibrated frame of image data with the front or rear camera, and capturing a sideward frame of image data with a side camera. At least one feature is determined present in the overlapping region of the calibrated frame, and pixel positions of the determined feature are predicted for the side camera. Misalignment of the side camera is determined based on a comparison of the predicted pixel positions of the determined feature to the pixel positions of the determined feature in the sideward frame of image data captured by the side camera. Processing of image data captured by the side camera is adjusted to accommodate the determined misalignment.
    Type: Application
    Filed: May 18, 2020
    Publication date: September 3, 2020
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20200262347
    Abstract: A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
    Type: Application
    Filed: May 4, 2020
    Publication date: August 20, 2020
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10733757
    Abstract: A trailer assist system for a vehicle includes a camera with a field of view encompassing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch present in the field of view of the camera. The control, responsive to processing at the control of image data captured by the camera, detects at least one feature of the trailer hitch at a Cartesian coordinate location and transforms the Cartesian coordinate location of the detected feature to a cylindrical coordinate location. The control generates a vertical segment that passes through the detected features and determines cylindrical coordinates of a ground point along the vertical segment. The control, responsive to determining the cylindrical coordinates of the ground point, determines a 3D location of the trailer hitch at the vehicle.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: August 4, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Galina Okouneva, Hilda Faraji, Jyothi P. Gali
  • Patent number: 10706291
    Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle. The camera includes a two dimensional imager array having multiple rows and columns of photosensing elements. An image processor processes image data captured by the camera. With the vehicle towing a trailer, and via processing by the image processor of image data captured by the camera, the trailer angle detection system detects a portion of the trailer that is being towed by the vehicle. The trailer angle detection system determines, via processing by the image processor of image data captured by the camera, an angle of the trailer relative to the vehicle responsive to determination of which columns of photosensing elements sense the detected portion of the trailer in the field of view of the camera.
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: July 7, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva
  • Publication number: 20200175707
    Abstract: A method of detecting a trailer angle of a trailer being towed by a vehicle includes capturing frames of image data via a camera of the vehicle while the vehicle is towing a trailer, and, via processing by an image processor of frames of captured image data while the vehicle is towing the trailer, determining presence of the trailer being towed by the vehicle, and determining feature vectors of the trailer being towed by the vehicle. The feature vectors of the trailer are determined by determining features that have similar angular changes between a current frame of captured image data and a previous frame of captured image data. The angle of the trailer relative to the vehicle is determined responsive to tracking of determined feature vectors of the trailer present in the field of view of the camera over multiple frames of captured image data.
    Type: Application
    Filed: February 3, 2020
    Publication date: June 4, 2020
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Patent number: 10654423
    Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
    Type: Grant
    Filed: December 4, 2017
    Date of Patent: May 19, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10640041
    Abstract: A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
    Type: Grant
    Filed: February 4, 2019
    Date of Patent: May 5, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20200101899
    Abstract: A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.
    Type: Application
    Filed: November 25, 2019
    Publication date: April 2, 2020
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Patent number: 10552976
    Abstract: A trailer angle detection system for a vehicle towing a trailer includes a rearward viewing camera disposed at a rear portion of a vehicle, and an image processor operable to process image data captured by the camera. Responsive to processing of captured image data when the vehicle is towing a trailer, the trailer angle detection system determines the presence of the trailer at the rear of the vehicle and attached at the vehicle and determines feature vectors of the detected trailer over multiple frames of captured image data. Responsive to movement of the trailer relative to the vehicle, the trailer angle detection system tracks feature vectors for different positions of the detected trailer. The trailer angle detection system determines an angle of the trailer responsive to detection of tracking of feature vectors the trailer in the field of view of the camera over multiple frames of captured image data.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: February 4, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Patent number: 10486596
    Abstract: A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.
    Type: Grant
    Filed: January 14, 2019
    Date of Patent: November 26, 2019
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20190347825
    Abstract: A trailer assist system for a vehicle includes a camera with a field of view encompassing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch present in the field of view of the camera. The control, responsive to processing at the control of image data captured by the camera, detects at least one feature of the trailer hitch at a Cartesian coordinate location and transforms the Cartesian coordinate location of the detected feature to a cylindrical coordinate location. The control generates a vertical segment that passes through the detected features and determines cylindrical coordinates of a ground point along the vertical segment. The control, responsive to determining the cylindrical coordinates of the ground point, determines a 3D location of the trailer hitch at the vehicle.
    Type: Application
    Filed: May 10, 2019
    Publication date: November 14, 2019
    Inventors: Nikhil Gupta, Galina Okouneva, Hilda Faraji, Jyothi P. Gali
  • Publication number: 20190168670
    Abstract: A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
    Type: Application
    Filed: February 4, 2019
    Publication date: June 6, 2019
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20190143896
    Abstract: A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.
    Type: Application
    Filed: January 14, 2019
    Publication date: May 16, 2019
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Patent number: 10202077
    Abstract: A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data while the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set's feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.
    Type: Grant
    Filed: May 23, 2016
    Date of Patent: February 12, 2019
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10179543
    Abstract: A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.
    Type: Grant
    Filed: February 27, 2014
    Date of Patent: January 15, 2019
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20180276839
    Abstract: A trailer angle detection system for a vehicle towing a trailer includes a rearward viewing camera disposed at a rear portion of a vehicle, and an image processor operable to process image data captured by the camera. Responsive to processing of captured image data when the vehicle is towing a trailer, the trailer angle detection system determines the presence of the trailer at the rear of the vehicle and attached at the vehicle and determines feature vectors of the detected trailer over multiple frames of captured image data. Responsive to movement of the trailer relative to the vehicle, the trailer angle detection system tracks feature vectors for different positions of the detected trailer. The trailer angle detection system determines an angle of the trailer responsive to detection of tracking of feature vectors the trailer in the field of view of the camera over multiple frames of captured image data.
    Type: Application
    Filed: March 22, 2018
    Publication date: September 27, 2018
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Publication number: 20180253608
    Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle. The camera includes a two dimensional imager array having multiple rows and columns of photosensing elements. An image processor processes image data captured by the camera. With the vehicle towing a trailer, and via processing by the image processor of image data captured by the camera, the trailer angle detection system detects a portion of the trailer that is being towed by the vehicle. The trailer angle detection system determines, via processing by the image processor of image data captured by the camera, an angle of the trailer relative to the vehicle responsive to determination of which columns of photosensing elements sense the detected portion of the trailer in the field of view of the camera.
    Type: Application
    Filed: March 2, 2018
    Publication date: September 6, 2018
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva
  • Publication number: 20180215382
    Abstract: A trailer hitching assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and having a field of view rearward of the vehicle. A control includes an image processor operable to process image data captured by the camera. The image processor, via image processing of image data captured by the camera, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle so as to have its tow ball aligned with the trailer hitch. The control maneuvers the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the control determines a second path of travel and maneuvers the vehicle along the second path of travel to avoid the detected object entering the determined path of travel.
    Type: Application
    Filed: February 1, 2018
    Publication date: August 2, 2018
    Inventors: Nikhil Gupta, Horst D. Diessner, Richard Bozich, Jyothi P. Gali, Aleksandar Stefanovic, Hilda Faraji, Miad Moarref, Xai Phan, Galina Okouneva, Brijendra Kumar Bharti
  • Publication number: 20180086284
    Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
    Type: Application
    Filed: December 4, 2017
    Publication date: March 29, 2018
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi