Angle calibration in light detection and ranging system

A calibration system for a light detection and ranging (LIDAR) device, comprising:

• a memory that stores instructions, and
• a processor in communication with the memory and operable to execute the instructions to implement a method of calibrating a prism set of the LIDAR device including at least a first prism and a second prism, the method comprising:
• obtaining a plurality of points indicative of a surface shape of a surrounding object;
• evaluating a cost function that accounts for a change of the surface shape of the surrounding object using the plurality of points;
• determining a relative bias in the prism set using the cost function, wherein the relative bias is a difference between a rotational deviation of the first prism and a rotational deviation of the second prism;
• and
• causing, based on the relative bias, a compensation for an estimation error in an estimation of the surface shape of the surrounding object.

A method of calibrating a light detection and ranging (LIDAR) device, comprising:

• obtaining a plurality of points indicative of a surface shape of a surrounding object;
• evaluating a cost function that accounts for a change of the surface shape of the surrounding object using the plurality of points;
• determining a relative bias between the first prism and the second prism based on the normal vectors of the plurality of points, wherein the relative bias is a difference between a rotational deviation of the first prism and a rotational deviation of the second prism;
• and
• causing, based on the relative bias, a compensation for an estimation error in an estimation of the surface shape of the surrounding object, wherein the determining of the relative bias includes minimizing the cost function.