System and method for simultaneously multiple sensor calibration and transformation matrix computation

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising:

• calibrating simultaneously a plurality of sensors including a first sensor, a second sensor, and a third sensor, the plurality of sensors having a plurality of sensor types including at least a visual-based sensor type and a depth-based sensor type, by:
• for each of the first sensor, the second sensor, and the third sensor,
• acquiring sensor information representative of a 3D construct comprising a plurality of fiducial markers,
• detecting a feature point from a plurality of feature points on each fiducial marker of the plurality of fiducial markers based on the sensor information, and
• estimating a set of 3D coordinates, each 3D coordinate from the set of 3D coordinates corresponding to a feature point from the plurality of feature points, wherein the set of 3D coordinates is with respect to a coordinate system associated with that sensor;
• computing, based on the set of 3D coordinates for each of the first sensor, the second sensor, and the third sensor in the respective coordinate systems a respective transformation matrix between each possible pair of the first sensor, the second sensor, and the third sensor;
• and
• sending a signal to a vehicle to facilitate driving of the vehicle based on first data received from one of the first sensor, the second sensor, and the third sensor and second data determined based on the first data and at least one of the transformation matrices.

A system, comprising:

• at least one processor;
• a memory operably coupled to the at least one processor and storing instructions to cause the system to perform operations comprising:
• calibrating simultaneously a plurality of sensors including a first sensor, a second sensor, and a third sensor, the plurality of sensors having a plurality of sensor types including at least a visual-based sensor type and a depth-based sensor type, by:
• for each of the first sensor, the second sensor, and the third sensor,
• acquiring sensor information representative of a 3D construct comprising a plurality of fiducial markers,
• detecting a feature point from a plurality of feature points on each fiducial marker of the plurality of fiducial markers based on the sensor information, and
• estimating a set of 3D coordinates, each 3D coordinate from the set of 3D coordinates corresponding to a feature point from the plurality of feature points, wherein the set of 3D coordinates is with respect to a coordinate system associated with that sensor;
• computing, based on the set of 3D coordinates for each of the first sensor, the second sensor, and the third sensor in respective coordinate systems, a respective transformation matrix between each possible pair of the first sensor, the second sensor, and the third sensor;
• and
• sending a signal to a vehicle to facilitate driving of the vehicle based on first data received from one of the first sensor, the second sensor, and the third sensor and second data determined based on the first data and at least one of the transformation matrices.