{
  "$type": "site.standard.document",
  "description": "Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle Ψbetween a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also…",
  "path": "/patents/1291398",
  "publishedAt": "2021-05-27T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T7/277",
    "GM Global Technology Operations LLC"
  ],
  "textContent": "Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle Ψbetween a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance yfrom a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.",
  "title": "CAMERA-BASED ENHANCEMENT OF VEHICLE KINEMATIC STATE ESTIMATION"
}