LIDAR optics alignment systems and methods
AssigneeWaymo LLC
InventorsPierre-Yves Droz, David Neil Hutchison, Luke Wachter, Alexander McCauley
Life of this patent
Estimating the term…
Abstract
One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.
Claims20
A method comprising:
- obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device, wherein the LIDAR device includes a transmitter comprising one or more light sources and a receiver comprising one or more light detectors, and wherein obtaining the plurality of images comprises:
- obtaining a first image while a first aperture is interposed between the camera and the LIDAR device at a first position relative to the camera, and
- obtaining a second image while a second aperture is interposed between the camera and the LIDAR device at a second position relative to the camera;
- and
- based on the plurality of images, determining one or more alignment offsets between the transmitter and the receiver in the LIDAR device.
A system comprising:
- a platform that supports a light detection and ranging (LIDAR) device, wherein the LIDAR device includes a transmitter and a receiver, wherein the transmitter includes one or more light sources, and wherein the receiver includes one or more light detectors;
- a camera located at a given position relative to the LIDAR device;
- and
- a controller that:
- obtains a plurality of images using the camera, wherein obtaining the plurality of images comprises:
- obtaining a first image while a first aperture is interposed between the camera and the LIDAR device at a first position relative to the camera, and obtaining a second image while a second aperture is interposed between the camera and the LIDAR device at a second position relative to the camera, and
- based on the plurality of images, determines one or more alignment offsets between the transmitter and the receiver in the LIDAR device.
Dependencies are inferred from the claim text.