Method, system, and computer program product for parallax estimation for sensors for autonomous vehicles

A system for parallax estimation for sensors for autonomous vehicles, comprising:

• an autonomous vehicle;
• a first sensor of the autonomous vehicle;
• a second sensor of the autonomous vehicle;
• and
• a parallax estimation and sensor placement system configured to:
• generate a two-dimensional grid based on a field of view of the first sensor of the autonomous vehicle, the grid comprising a plurality of points;
• for each respective point of the plurality of points, determine a three-dimensional position of a respective intersection point between a first respective ray from the first sensor to the respective point of the plurality of points and a second respective ray from the second sensor of the autonomous vehicle, wherein a plurality of intersection points comprises each respective intersection point for each respective point of the plurality of points;
• for each respective intersection point of the plurality of intersection points, determine a respective solid angle based on a first three-dimensional vector from the first sensor to the three-dimensional position of the respective intersection point and a second three-dimensional vector from the second sensor to the three-dimensional position of the respective intersection point;
• generate a matrix based on a first distance from the first sensor to each respective intersection point, a second distance from the second sensor to each respective intersection point, and the solid angle for each respective intersection point;
• and
• extract at least one metric from the matrix;
• interpolate the two-dimensional grid based on the at least one metric;
• and
• display a visual representation based on interpolating the two-dimensional grid, wherein the visual representation comprises a gradient of at least one of shades or colors based on the at least one metric across a two-dimensional image,
• wherein an arrangement of the first sensor and the second sensor is adjusted based on the at least one metric.

A computer program product for parallax estimation for a first sensor and a second sensor of an autonomous vehicle, the computer program product comprising at least one non-transitory computer-readable medium comprising one or more instructions that, when executed by at least one processor, cause the at least one processor to:

• generate a two-dimensional grid based on a field of view of the first sensor of the autonomous vehicle, the grid comprising a plurality of points;
• for each respective point of the plurality of points, determine a three-dimensional position of a respective intersection point between a first respective ray from the first sensor to the respective point of the plurality of points and a second respective ray from the second sensor of the autonomous vehicle, wherein a plurality of intersection points comprises each respective intersection point for each respective point of the plurality of points;
• for each respective intersection point of the plurality of intersection points, determine a respective solid angle based on a first three-dimensional vector from the first sensor to the three-dimensional position of the respective intersection point and a second three-dimensional vector from the second sensor to the three-dimensional position of the respective intersection point;
• generate a matrix based on a first distance from the first sensor to each respective intersection point, a second distance from the second sensor to each respective intersection point, and the solid angle for each respective intersection point;
• and
• extract at least one metric from the matrix;
• interpolate the two-dimensional grid based on the at least one metric;
• and
• display a visual representation based on interpolating the two-dimensional grid, wherein the visual representation comprises a gradient of at least one of shades or colors based on the at least one metric across a two-dimensional image,
• wherein an arrangement of the first sensor and the second sensor is adjusted based on the at least one metric.