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US 11,453,348 B2Granted
Polyhedral sensor calibration target for calibrating multiple types of sensors
AssigneeGM Cruise Holdings LLC
InventorYongjun Wang
Life of this patent
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Abstract
A polyhedral sensor target includes multiple surfaces. A housing, such as a vehicle, may include a camera and a distance measurement sensor, such as a light detection and ranging (LIDAR) sensor. The housing may move between different positions during calibration, for instance by being rotated atop a turntable. The camera and distance measurement sensor may both capture data during calibration, from which visual and distance measurement representations of the polyhedral sensor target are identified. The camera and distance measurement sensor are calibrated based on their respective representations, for example by mapping vertices within the representations to the same location.
Claims20
A system for sensor calibration, the system comprising:
- a camera coupled to a housing that moves between a plurality of positions over a course of a calibration time period, wherein the camera captures a plurality of camera datasets corresponding to the plurality of positions over the course of the calibration time period;
- a distance measurement sensor coupled to the housing, wherein the distance measurement sensor captures a plurality of distance measurement datasets corresponding to the plurality of positions over the course of the calibration time period;
- a memory storing instructions;
- and
- a processor that executes the instructions, wherein execution of the instructions by the processor causes the processor to:
- receive the plurality of camera datasets from the camera,
- identify, within at least a subset of the plurality of camera datasets, a visual representation of a polyhedral sensor target, wherein a plurality of surfaces of the polyhedral sensor target are visually discernable from one another in the visual representation of the polyhedral sensor target,
- receive the plurality of distance measurement datasets from the distance measurement sensor,
- identify, within at least a subset of the plurality of distance measurement datasets, a distance measurement representation of the polyhedral sensor target, wherein the plurality of surfaces of the polyhedral sensor target are discernable from one another in the distance measurement representation of the polyhedral sensor target, and
- calibrate interpretation of data captured by the camera and by the distance measurement sensor based on the visual representation of the polyhedral sensor target and the distance measurement representation of the polyhedral sensor target.
7 more elements
A method for sensor calibration, the method comprising:
- receiving a plurality of camera datasets from a camera coupled to a housing, wherein the housing moves between a plurality of positions and the camera captures the plurality of camera datasets over a course of a calibration time period, wherein each of the plurality of positions corresponds to at least one of the plurality of camera datasets;
- identifying, within at least a subset of the plurality of camera datasets, a visual representation of a polyhedral sensor target, wherein a plurality of surfaces of the polyhedral sensor target are visually discernable from one another in the visual representation of the polyhedral sensor target;
- receiving a plurality of distance measurement datasets from a distance measurement sensor coupled to the housing, wherein the distance measurement sensor captures the plurality of distance measurement datasets over the course of the calibration time period, wherein each of the plurality of positions corresponds to at least one of the plurality of distance measurement datasets;
- identifying, within at least a subset of the plurality of distance measurement datasets, a distance measurement representation of the polyhedral sensor target, wherein the plurality of surfaces of the polyhedral sensor target are discernable from one another in the distance measurement representation of the polyhedral sensor target;
- and
- calibrating interpretation of data captured by the camera and by the distance measurement sensor based on the visual representation of the polyhedral sensor target and the distance measurement representation of the polyhedral sensor target.
3 more elements
A non-transitory computer readable storage medium having embodied thereon a program, wherein the program is executable by a processor to perform a method of sensor calibration, the method comprising:
- receiving a plurality of camera datasets from a camera coupled to a housing, wherein the housing moves between a plurality of positions and the camera captures the plurality of camera datasets over a course of a calibration time period, wherein each of the plurality of positions corresponds to at least one of the plurality of camera datasets;
- identifying, within at least a subset of the plurality of camera datasets, a visual representation of a polyhedral sensor target, wherein a plurality of surfaces of the polyhedral sensor target are visually discernable from one another in the visual representation of the polyhedral sensor target;
- receiving a plurality of distance measurement datasets from a distance measurement sensor coupled to the housing, wherein the distance measurement sensor captures the plurality of distance measurement datasets over the course of the calibration time period, wherein each of the plurality of positions corresponds to at least one of the plurality of distance measurement datasets;
- identifying, within at least a subset of the plurality of distance measurement datasets, a distance measurement representation of the polyhedral sensor target, wherein the plurality of surfaces of the polyhedral sensor target are discernable from one another in the distance measurement representation of the polyhedral sensor target;
- and
- calibrating interpretation of data captured by the camera and by the distance measurement sensor based on the visual representation of the polyhedral sensor target and the distance measurement representation of the polyhedral sensor target.
3 more elements
Dependencies are inferred from the claim text.