LIDAR optics alignment system
AssigneeWaymo LLC
InventorsGil Shotan, Joshua Wang, Luke Wachter
Life of this patent
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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 device (LIDAR). A first image of the plurality may be indicative of a view, via one or more optical elements of the LIDAR, of a receiver of the LIDAR. The method also involves determining simulated detector positions for intercepting reflections of simulated light beams associated with a plurality of light sources in a transmitter of the LIDAR. The method also involves determining one or more alignment offsets between the transmitter and the receiver based on at least the simulated detector positions and the plurality of images.
Claims20
A method comprising:
- capturing at least one image using a camera at a given position relative to a light detection and ranging device (LIDAR), wherein the LIDAR includes a transmitter comprising at least one light source, a receiver comprising at least one light detector, and at least one optical element, and wherein the at least one image is indicative of a view of the receiver via the at least one optical element;
- determining at least one simulated detector position for intercepting reflections of at least one simulated light beam associated with the at least one light source based on a simulation of a physical arrangement of the at least one optical element and the at least one light source and optical characteristics of the at least one optical element;
- and
- determining an alignment offset between the transmitter and the receiver based on the at least one simulated detector position and the at least one image.
A system comprising:
- a platform that supports a light detection and ranging device (LIDAR), wherein the LIDAR includes a transmitter comprising at least one light source, a receiver comprising at least one light detector, and at least one optical element;
- a camera located at a given position relative to the LIDAR;
- and
- a controller configured to perform operations comprising:
- causing the camera to capture at least one image indicative of a view of the receiver via the at least one optical element;
- determining at least one simulated detector position for intercepting reflections of at least one simulated light beam associated with the at least one light source based on a simulation of a physical arrangement of the at least one optical element and the at least one light source and optical characteristics of the at least one optical element;
- and
- determining an alignment offset between the transmitter and the receiver based on the at least one simulated detector position and the at least one image.
A non-transitory computer readable medium storing instructions that, when executed by one or more processors of a computing device, cause the computing device to perform operations comprising:
- capturing at least one image using a camera at a given position relative to a light detection and ranging device (LIDAR), wherein the LIDAR includes a transmitter comprising at least one light source, a receiver comprising at least one light detector, and at least one optical element, and wherein the at least one image is indicative of a view of the receiver via the at least one optical element;
- determining at least one simulated detector position for intercepting reflections of at least one simulated light beam associated with the at least one light source based on a simulation of a physical arrangement of the at least one optical element and the at least one light source and optical characteristics of the at least one optical element;
- and
- determining an alignment offset between the transmitter and the receiver based on the at least one simulated detector position and the at least one image.
Dependencies are inferred from the claim text.