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US 12,105,225 B2Granted
Systems and methods for calibrating a LiDAR device
AssigneeVelodyne Lidar USA, Inc.
InventorsZhongping Cai, Geovany Ramirez, Ayush Shah, Shing Leung Luk, Marcus Smith
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Abstract
Systems and methods for calibrating a LiDAR device are disclosed. According to one embodiment, the system comprises a LiDAR device, a continuous curved target at a fixed distance from the LiDAR device, and a calibration controller operable to perform a reflectance over range calibration of the LiDAR device. The LiDAR device scans portions of the continuous curved target at different ranges during the calibration.
Claims16
A system, comprising:
- a LiDAR device comprising a plurality of channels;
- a calibration target comprising a continuous curved concave reflective surface extending between first and second ends of the calibration target and positioned with respect to the LiDAR device such that the first end is at a first fixed distance from the LiDAR device and the second end is at a second fixed distance from the LiDAR device greater than the first fixed distance;
- and
- a calibration controller operable to perform a reflectance over range calibration of the
- LiDAR device by scanning, with the LiDAR device, portions of the continuous curved reflective surface of the calibration target with the plurality of channels;
- and
- wherein the calibration target is positioned and the reflective surface is configured such that, during the scanning, each channel in the plurality of channels scans a different range while glancing angles of return signals for each channel are substantially uniform.
4 more elements
A method for calibrating a LiDAR device, the method comprising:
- performing reflectance over range calibration of a LiDAR device, by:
- scanning, with the LiDAR device, portions of a concave continuous curved reflective surface of a calibration target, wherein the concave continuous curved reflective surface extends between first and second ends of the calibration target and is positioned, with respect to the LiDAR device, such that the first end is at a first fixed distance from the LiDAR device and the second end is at a second fixed distance from the LiDAR device greater than the first fixed distance;
- and
- generating a reflectance correction map for the LiDAR device based, at least in part, on information derived from the scanning of the portions of the concave continuous curved reflective surface of the calibration target.
1 more element
Dependencies are inferred from the claim text.