Dynamic lidar to camera alignment
AssigneeGM Global Technology Operations LLC
InventorsYousef A. Omar, Hao Yu, Wende Zhang
Life of this patent
Estimating the term…
Abstract
Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.
Claims20
A method of controlling a vehicle having a lidar device and a camera device, the method comprising:
- receiving, by a controller onboard the vehicle, lidar data from the lidar device;
- receiving, by the controller, image data from the camera device;
- computing, by the controller, an edge map based on the lidar data;
- computing, by the controller, an inverse distance transformation (IDT) canny map based on the image data;
- computing, by the controller, an IDT contour map based on the image data;
- computing, by the controller, an IDT edge map based on the IDT canny map and the IDT contour map;
- aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters;
- storing, by the controller, extrinsic parameters as calibrations in a data storage device;
- and
- controlling, by the controller, the vehicle based on the stored calibrations.
A vehicle system of a vehicle, comprising:
- a lidar device;
- a camera device;
- and
- a controller configured to, by a processor, receive lidar data from the lidar device, compute a lidar edge map based on the lidar data, receive image data from the camera device, compute, an inverse distance transformation (IDT) canny map based on the image data, compute an IDT contour map based on the image data;
- computing, by the controller, an IDT edge map based on the IDT canny map and the IDT contour map, align points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters, store extrinsic parameters as calibrations in a data storage device, and control the vehicle based on the stored calibrations.
Dependencies are inferred from the claim text.