Automatic extrinsic calibration using sensed data as a target
AssigneeEmbark Trucks Inc.
InventorPhillip Haeusler
Life of this patent
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Abstract
Provided are systems and methods for auto calibrating a vehicle using a calibration target that is generated from the vehicle's sensor data. In one example, the method may include receiving sensor data associated with a road captured by one or more sensors of a vehicle, identifying lane line data points within the sensor data, generating a representation which includes positions of a plurality of lane lines of the road based on the identified lane line data points, and adjusting a calibration parameter of a sensor from among the one or more sensors of the vehicle based on the representation of the plurality of lane lines.
Claims20
A computing system comprising:
- a memory of a vehicle configured to store sensor data associated with a road that is captured by one or more of a first type of sensor of the vehicle while the vehicle is travelling on the road;
- and
- a processor configured to, while the vehicle is travelling on the road:
- identify lane line data points within the sensor data that corresponds to lane lines of the road the vehicle is travelling;
- generate a three-dimensional (3D) virtual representation that includes positions of a plurality of lane lines of the road based on the identified lane line data points;
- and
- adjust a calibration parameter of, at least, a sensor from the one or more of the first type of sensor of the vehicle based on an alignment of the 3D virtual representation of the plurality of lane lines and sensor data associated with the data captured by one or more of the first type of sensor of the vehicle.
A method comprising:
- receiving sensor data associated with a road captured by one or more of a first type of sensor of a vehicle while the vehicle is travelling on the road;
- identifying, by a processor of the vehicle while the vehicle is travelling on the road, lane line data points within the sensor data that corresponds to lane lines of the road the vehicle is travelling;
- generating, by the processor, a three-dimensional (3D) virtual representation that includes positions of a plurality of lane lines of the road based on the identified lane line data points;
- and
- adjusting, by the processor, a calibration parameter of, at least, a sensor from among the one or more of the first type of sensor of the vehicle based on an alignment of the 3D virtual representation of the plurality of lane lines and sensor data associated with the data captured by one or more of the first type of sensor of the vehicle.
A vehicle comprising:
- one or more sensors of a first type of sensor;
- a memory configured to store sensor data associated with a road that is captured by the one or more of the first type of sensor while the vehicle is in motion travelling on the road;
- and
- a processor configured to generate a three-dimensional (3D) virtual calibration target from the sensor data associated with the road while the vehicle is in motion and adjust a calibration parameter of, at least, a sensor from among the one or more of the first type of sensor based on an alignment of the generated calibration target and sensor data associated with the data captured by one or more of the first type of sensor of the vehicle.
Dependencies are inferred from the claim text.