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US 11,238,615 B2Granted
Sensor calibration
AssigneeZoox, Inc.
InventorTill Kroeger
Life of this patent
Estimating the term…
Abstract
This disclosure is directed to calibrating sensors mounted on an autonomous vehicle. First image data and second image data representing an environment can be captured by first and second cameras, respectively (and or a single camera at different points in time). Point pairs comprising a first point in the first image data and a second point in the second image data can be determined and projection errors associated with the points can be determined. A subset of point pairs can be determined, e.g., by excluding point pairs with the highest projection error. Calibration data associated with the subset of points can be determined and used to calibrate the cameras without the need for calibration infrastructure.
Claims20
A system comprising:
- one or more processors;
- and
- computer-readable media storing instructions executable by the one or more processors, wherein the instructions cause the system to perform operations comprising:
- determining, as a point pair, a first point in a first image captured by a first camera and a second point in a second image captured by a second camera, the first point and the second point associated with a particular image feature;
- determining a projection error associated with the point pair;
- determining a subset of a plurality of point pairs based at least in part on the projection error, the subset of the plurality of point pairs including the point pair;
- determining, from the subset of the plurality of point pairs, a first correction function representative of a misalignment of an estimated relative positioning of the first and second cameras;
- in parallel with at least one of the determining the point pair, the determining the projection error, the determining the subset of the plurality of point pairs, or the determining the first correction function, determining a second correction function representative of a misalignment of at least one of the first camera or the second camera relative to a vehicle;
- and
- calibrating the first camera and the second camera based at least in part on the first correction function and the second correction function.
7 more elements
A method comprising:
- determining a point pair based on a first image captured by a first camera and a second image captured by a second camera, the point pair comprising a first point in the first image and a second point in the second image corresponding to the first point;
- determining a projection error associated with the point pair;
- determining a subset of a plurality of point pairs based at least in part on the projection error, the subset of the plurality of point pairs including the point pair;
- and
- determining, from the subset of the plurality of point pairs, a first calibration function representative of an estimated relative positioning of the first camera and the second camera;
- in parallel with at least one of the determining the point pair, the determining the projection error, the determining the subset of the plurality of point pairs, or the determining the first calibration function, determining a second calibration function representative of a misalignment of at least one of the first camera or the second camera relative to a vehicle, and
- calibrating the first camera and the second camera based at least in part on the first calibration function and the second calibration function.
4 more elements
A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:
- determining a point pair based on a first image captured by a first camera and a second image captured by a second camera, the point pair comprising a first point in the first image and a second point in the second image corresponding to the first point;
- determining a projection error for the point pair by:
- determining, for a first point in the first image, an epipolar line corresponding to the first point as represented in the second image, and
- comparing the second point to the epipolar line in the second image;
- determining a subset of a plurality of point pairs based at least in part on the projection error, the subset of the plurality of point pairs including the point pair;
- and
- determining, from the subset of the plurality of point pairs, a calibration function representative of a misalignment of the first camera relative to the second camera;
- in parallel with at least one of the determining the point pair, the determining the projection error, determining the subset of the plurality of point pairs, or the determining the first calibration function, determining a second calibration function representative of a misalignment of at least one of the first camera or the second camera relative to a vehicle;
- and
- calibrating the first camera and the second camera based at least in part on the first calibration function and the second calibration function.
7 more elements
Dependencies are inferred from the claim text.