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US 2026/0146851 A1Published application
Method of contactless vehicle toe angle measurement
AssigneeUVeye Ltd.
InventorsGuy ENGEL, Amir HEVER, Itai ORR, Amit KONSTABLER
Life of this patent
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Abstract
System and method for a computer vision technique for contactless measurement of vehicle toe are disclosed herein. The method includes capturing with a stereo camera an image containing a vehicle's wheel, segmenting the image, determining a suitable circular component of the wheel and computing the angle of the wheel relative to the camera and, subsequently, to the body of the vehicle. The method includes repeating the process for a plurality of wheels and computing the toe angle of the vehicle based on the obtained results.
Claims20
A method for determining wheel alignment of a motor vehicle, comprising:
- obtaining, with one or more cameras, an image depicting at least in part a wheel of a vehicle;
- analyzing the image to identify a circular component of the wheel depicted in the image;
- determining a desired number of sampled points lying on an edge of the circular component;
- determining an elliptic shape corresponding to the edge of the circular component;
- determining an angle of the wheel depicted in the image respective to the one or more cameras as a function of geometric properties of the elliptic shape;
- performing the previous steps for each wheel of the motor vehicle;
- determining a left toe angle as a difference between the angles of the front left and rearmost left wheels;
- determining a right toe angle as a difference between the angles of the front right and rearmost right wheels;
- and
- outputting a sum of the left toe angle and the right toe angle.
7 more elements
A method for determining wheel alignment of a motor vehicle, comprising:
- obtaining a first image depicting at least in part a first wheel of a vehicle with a first stereo camera, and a second image depicting at least in part a second wheel of the vehicle with a second stereo camera, wherein the first wheel and the second wheel are located on opposite sides of the vehicle;
- analyzing the first image and the second image to determine a plane of the first wheel and a plane of the second wheel, respectively;
- determining a first normal to the plane of the first wheel and a second normal to the plane of the second wheel;
- determining a first angle between the first normal and the plane of the second wheel and a second angle between the second normal and the plane of the first wheel;
- and
- outputting a difference between the first angle and the second angle.
3 more elements
A method for determining wheel alignment of a motor vehicle, comprising:
- obtaining a first image depicting at least in part a first wheel of a vehicle and a fixed entity parallel to a longitudinal axis of the vehicle with a first stereo camera, and a second image depicting at least in part a second wheel of the vehicle and the fixed entity parallel to a longitudinal axis of the vehicle with a second stereo camera, wherein the first wheel and the second wheel are located on opposite sides of the vehicle;
- analyzing the first image and the second image to determine a plane of the first wheel, a plane of the second wheel, and a plane of the fixed entity, respectively;
- determining a first normal to the plane of the first wheel and a second normal to the plane of the second wheel;
- determining a first angle between the first normal and the plane of the fixed entity and a second angle between the second normal and the plane of the fixed entity;
- and
- outputting a sum of the first angle and the second angle.
3 more elements
A computer system, comprising:
- a processor configured to execute stored executable instructions;
- and
- a non-transitory computer readable medium storing executable instructions that, when executed by a processor, cause the computer system to perform a method for determining wheel alignment of a motor vehicle, the method comprising:
- obtaining, with one or more cameras, an image depicting at least in part a wheel of a vehicle;
- analyzing the image to identify a circular component of the wheel depicted in the image;
- determining a desired number of sampled points lying on an edge of the circular component;
- determining an elliptic shape corresponding to the edge of the circular component;
- determining an angle of the wheel depicted in the image respective to the one or more cameras as a function of geometric properties of the elliptic shape;
- performing the previous steps for each wheel of the motor vehicle;
- determining a left toe angle as a difference between the angles of the front left and rearmost left wheels;
- determining a right toe angle as a difference between the angles of the front right and rearmost right wheels;
- and
- outputting a sum of the left toe angle and the right toe angle.
10 more elements
A contactless vehicle wheel toe angle measurement device, comprising:
- one or more cameras configured to capture an image depicting a wheel of a vehicle;
- a processor configured to execute stored executable instructions;
- and
- a non-transitory computer readable medium storing executable instructions that, when executed by a processor, cause the computer system to perform a method for determining wheel alignment of a motor vehicle, the method comprising:
- obtaining, with one or more cameras, an image depicting at least in part a wheel of a vehicle;
- analyzing the image to identify a circular component of the wheel depicted in the image;
- determining a desired number of sampled points lying on an edge of the circular component;
- determining an elliptic shape corresponding to the edge of the circular component;
- determining an angle of the wheel depicted in the image respective to the one or more cameras as a function of geometric properties of the elliptic shape;
- performing the previous steps for each wheel of the motor vehicle;
- determining a left toe angle as a difference between the angles of the front left and rearmost left wheels;
- determining a right toe angle as a difference between the angles of the front right and rearmost right wheels;
- and
- outputting a sum of the left toe angle and the right toe angle.
11 more elements
Dependencies are inferred from the claim text.