{
  "$type": "site.standard.document",
  "description": "A vehicle control system including a spatial monitoring system includes on-vehicle cameras that capture images, from which are recovered a plurality of three-dimensional (3D) points. A left ground plane normal vector is determined for a left image, a center ground plane normal vector is determined…",
  "path": "/patents/1347116",
  "publishedAt": "2023-07-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T7/33",
    "GM GLOBAL TECHNOLOGY OPERATIONS LLC"
  ],
  "textContent": "A vehicle control system including a spatial monitoring system includes on-vehicle cameras that capture images, from which are recovered a plurality of three-dimensional (3D) points. A left ground plane normal vector is determined for a left image, a center ground plane normal vector is determined for a front image, and a right ground plane normal vector is determined for a right image. A first angle difference between the left ground plane normal vector and the center ground plane normal vector is determined, and a second angle difference between the right ground plane normal vector and the center ground plane normal vector is determined. An uneven ground surface is determined based upon one of the first angle difference or the second angle difference, and an alignment compensation factor for the left camera or the right camera is determined. A bird's eye view image is determined based upon the alignment compensation factor.",
  "title": "ON-VEHICLE SPATIAL MONITORING SYSTEM"
}