Method and apparatus for acquiring depth information using cameras from different vehicles

1. A method comprising:

at a control module,

(a) obtaining from a first camera onboard a first vehicle, first camera data comprising a first focal length and a first reflection including an object of interest (OOI) to which a distance, D, from the first vehicle is desired;

(b) identifying a second camera with second camera data having therein a second reflection including the OOI, the second camera being onboard a second vehicle, the second camera data further comprising a second focal length, and a second OOI reflection;

(c) receiving from the second camera, the second camera data;

(d) determining a distance between the first camera and the second camera;

(e) time synchronizing the first camera data and the second camera data; and

(f) processing the first camera data, the second camera data, and the distance between the first and second cameras to determine the D.

2. The method of claim 1 , wherein:

first camera data further includes (i) a location and orientation of a first aperture, (ii) a location and orientation of a first image surface, and (iii) a time stamp for the first reflection; and

second camera data further includes (i) a location and orientation of a second aperture, (ii) a location and orientation of a second image surface, and (iii) a time stamp for the second reflection.

3. The method of claim 2 , further comprising:

referencing first vehicle data including a first vehicle location;

receiving second vehicle data including a second vehicle location; and

determining the D further based on the first vehicle location and the second vehicle location.

4. The method of claim 3 , further comprising:

time-stamping the D, as D-1;

repeating (a)-(e) to generate a second D; and

time-stamping the second D, as D-2.

5. The method of claim 4 , further comprising determining a velocity of the OOI using D-1 and D-2.

6. The method of claim 5 , further comprising determining an acceleration of the OOI using D-1 and D-2.

7. The method of claim 4 , further comprising transmitting the D-1 and the D-2 to a vehicle that is not able to produce its own camera image including the OOI.

8. The method of claim 4 , further comprising using the D to generate commands for an alert system or in a control algorithm for controlling autonomous vehicles.

9. A system comprising:

a first camera onboard a first vehicle, providing first camera data comprising a first focal length and a first reflection including an object of interest (OOI) to which a distance, D, from the first vehicle is desired;

a second camera with second camera data having therein a second reflection including the OOI, the second camera being onboard a second vehicle, the second camera data further comprising a second focal length, and a second OOI reflection; and

a control module configured to process first camera data and second camera data to:

(a) determine a distance between the first camera and the second camera;

(b) time synchronize the first camera data and the second camera data; and

(c) process the first camera data, the second camera data, and the distance between the first and second cameras to determine the D.

10. The system of claim 9 , wherein:

first camera data further includes (i) a location and orientation of a first aperture, (ii) a location and orientation of a first image surface, and (iii) a time stamp for the first reflection; and

second camera data further includes (i) a location and orientation of a second aperture, (ii) a location and orientation of a second image surface, and (iii) a time stamp for the second reflection.

11. The system of claim 10 , wherein the control module is further configured to:

reference first vehicle data including a first vehicle location;

receive second vehicle data including a second vehicle location; and

determine the D further based on the first vehicle location and the second vehicle location.

12. The system of claim 11 , wherein the control module is further configured to:

time-stamp the D, as D-1;

repeat (a) and (b) to generate a second D; and

time-stamp the second D, as D-2.

13. The system of claim 12 , wherein the control module is further configured to determine a velocity of the OOI using D-1 and D-2.

14. The system of claim 13 , wherein the control module is further configured to determine an acceleration of the OOI using D-1 and D-2.

15. The system of claim 14 , wherein the control module is further configured to transmit the D-1 and the D-2 to a vehicle that is not able to produce its own camera image including the OOI.

16. The system of claim 15 , using the D to generate commands for an alert system or in a control algorithm for controlling autonomous vehicles.

17. A vehicle comprising:

a navigation system;

a first camera, providing first camera data comprising a first image, a first focal length and a first reflection including an object of interest (OOI) to which a distance, D, from the vehicle is desired; and

a control module operationally coupled to the navigation system and the camera, the control module configured to:

search for a second camera having second camera data including a second image having therein the OOI, and a second focal length;

receive, from the second camera, the second camera data;

determine a distance between the first camera and the second camera;

time synchronize the first camera data and the second camera data; and

determine the D, using the first camera data, the second camera data, and the distance between the first and second cameras.

18. The vehicle of claim 17 , wherein the control module is further configured to:

time-stamp the D, as D-1;

determine a second D by repeating processing first camera data, second camera data, and the distance between the first and second cameras;

time-stamp the second D, as D-2;

determine a first velocity of the OOI based thereon; and

transmit the D-1, the D-2, and the OOI velocity to a wireless network.

19. The vehicle of claim 17 , wherein the first camera and the second camera are a first pair of cameras providing a first determined OOI distance and a first determined velocity, and wherein the control module is further configured to:

receive, from a second pair of cameras that are different than the first pair of cameras, a second determined OOI distance and a second determined OOI velocity.

20. The vehicle of claim 19 , wherein:

the first determined OOI distance and the second determined OOI distance are two of a plurality determined OOI distances;

the first determined OOI velocity and the second determined OOI velocity are two of a plurality of determined OOI velocities; and

the control module is further configured to process a received plurality of determined OOI distances to establish a high fidelity grid of the OOI's location based thereon.