# US 11,909,944 B1 · Dynamic calibration of cameras in a stereoscopic configuration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,909,944 B1 - Document ID: US11909944B1 - Status: Granted - Kind: B1 - Application number: 18/329,437 - Filed: 2023-06-05 - Granted: 2024-02-20 - Earliest claimed: 2022-02-21 - Assignees: Ghost Autonomy Inc. - Applicants: Ghost Autonomy Inc. - Inventors: Volkmar Uhlig; Prannay Khosla; Shaun M. Pacheco; Mohammadamin Khajehnejad; Ying Li; Bobak Farzin - Web page: https://patentgrep.com/patent/US11909944B1 ## CPC - H04N 1/32106: {separate from the image data, e.g. in a different computer file} - H04N 13/246: Calibration of cameras - B60W 60/001: {Planning or execution of driving tasks} - G06T 7/593: from stereo images - G06T 7/85: {Stereo camera calibration} - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - H04N 23/61: based on recognised objects - H04N 23/815: {for controlling the resolution by using a single image} - B60W 2420/403: Image sensing, e.g. optical camera - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - H04N 13/296: Synchronisation thereof; Control thereof - H04N 23/617: Upgrading or updating of programs or applications for camera control - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Dynamic calibration of cameras in a stereoscopic configuration may include: determining a disparity between first image data from a first camera and second image data from a second camera, wherein the first camera and the second camera are in a stereoscopic configuration, and wherein the disparity comprises a difference in placement of one or more objects in the first image data relative to the second image data; and adjusting one or more of the first camera or the second camera, based on the disparity and sensor data from a sensor other than the first camera and the second camera, to calibrate the stereoscopic configuration of the first camera and the second camera to achieve stereoscopic camera distance functionality. ## Claims ### Claim 1 A method comprising: determining a disparity between first image data from a first camera and second image data from a second camera, wherein the first camera and the second camera are in a stereoscopic configuration, and wherein the disparity comprises a difference in placement of one or more objects in the first image data relative to the second image data; adjusting one or more of the first camera or the second camera, based on the disparity and sensor data from a sensor other than the first camera or the second camera, to calibrate the stereoscopic configuration of the first camera and the second camera to achieve stereoscopic camera distance functionality; identifying, after adjusting one or more of the first camera and the second camera, based on image data from the first camera and the second camera, a lateral positioning of an object; and calibrating the sensor based on the lateral positioning of the object and a distance of the object determined via the sensor. ### Claim 2 (depends on 1) The method of claim 1, wherein adjusting one or more of the first camera or the second camera comprises modifying, based on the disparity and the sensor data, data describing a relative positioning of the first camera and the second camera. ### Claim 3 (depends on 2) The method of claim 2, wherein modifying the data comprises modifying the data based on the disparity in response to no objects being identified in the sensor data. ### Claim 4 (depends on 2) The method of claim 2, wherein modifying the data comprises modifying the data based on a difference between a first distance of an object identified in the sensor data and a second distance of the object calculated as a function of the disparity. ### Claim 5 (depends on 1) The method of claim 1, wherein adjusting one or more of the first camera or the second camera comprises providing, based on the disparity and the sensor data, a command to crop image data from one or more of the first camera or the second camera to generate cropped image data. ### Claim 6 (depends on 5) The method of claim 5, wherein providing the command comprises determining an optical center of the cropped image data based on the disparity in response to no objects being identified in the sensor data. ### Claim 7 (depends on 5) The method of claim 5, wherein providing the command comprises determining an optical center of the cropped image data based on a difference between a first distance of an object identified in the sensor data and a second distance of the object calculated as a function of the disparity. ### Claim 8 (depends on 1) The method of claim 1, further comprising generating one or more autonomous driving decisions image data from the first camera and the second camera. ### Claim 9 (depends on 1) The method of claim 1, wherein calculating the disparity and adjusting one or more of the first camera and the second camera are performed during an autonomous driving mode of an autonomous vehicle. ### Claim 10 A method comprising: determining a disparity between first image data from a first camera and second image data from a second camera, wherein the first camera and the second camera are in a stereoscopic configuration; modifying, based on the disparity and sensor data from a sensor other than the first camera and the second camera, data describing a relative positioning of the first camera and the second cameral; identifying, after modifying the data describing the relative positioning of the first camera and the second camera, based on image data from the first camera and the second camera, a lateral positioning of an object; and calibrating the sensor based on the lateral positioning of the object and a distance of the object determined via the sensor. ### Claim 11 (depends on 10) The method of claim 10, wherein modifying the data comprises modifying the data based on the disparity in response to no objects being identified in the sensor data. ### Claim 12 (depends on 10) The method of claim 10, wherein modifying the data comprises modifying the data based on a difference between a first distance of an object identified in the sensor data and a second distance of the object calculated as a function of the disparity. ### Claim 13 (depends on 10) The method of claim 10, further comprising generating one or more autonomous driving decisions based on the data and image data from the first camera and the second camera. ### Claim 14 (depends on 10) The method of claim 10, wherein the data describing the relative positioning of the first camera and the second camera comprises data describing one or more angles between a direction of the first camera and a direction of the second camera. ### Claim 15 A method comprising: determining a disparity between first image data from a first camera and second image data from a second camera, wherein the first camera and the second camera are in a stereoscopic configuration; providing, based on the disparity and sensor data from a sensor other than the first camera and the second camera, a command to crop image data from one or more of the first camera or the second camera to generate cropped image data; identifying, after providing the command and based on image data from the first camera and the second camera, a lateral positioning of an object, wherein the image data comprises the cropped image data from the first camera or the second camera; and calibrating the sensor based on the lateral positioning of the object and a distance of the object determined via the sensor. ### Claim 16 (depends on 15) The method of claim 15, wherein providing the command comprises determining an optical center of the cropped image data based on the disparity in response to no objects being identified in the sensor data. ### Claim 17 (depends on 15) The method of claim 15, wherein providing the command comprises determining an optical center of the cropped image data based on a difference between a first distance of an object identified in the sensor data and a second distance of the object calculated as a function of the disparity. ### Claim 18 (depends on 15) The method of claim 15, further comprising generating one or more autonomous driving decisions based cropped image data from the first camera or the second camera.