System, method, and computer program product for online sensor motion compensation

A system for a vehicle, comprising:

• a support structure mounted on the vehicle;
• a plurality of image capture devices coupled to the support structure;
• a plurality of sets of strain gauges coupled to the support structure;
• a vibration exciter configured to apply a random mechanical excitation to the support structure;
• a memory;
• and
• at least one processor coupled to the memory and configured to:
• receive a strain measured over a period of time, at a location of each set of strain gauges of the plurality of sets of strain gauges coupled to the support structure, simultaneous to an application of the random mechanical excitation to the support structure over the period of time, wherein the plurality of image capture devices are calibrated to each other before the random mechanical excitation is applied to the support structure;
• receive image data associated with a series of images of a calibration target captured, by each image capture device of the plurality of image capture devices, simultaneous to the application of the random mechanical excitation to the support structure;
• and
• generate, based on the strain measured over the period of time by each set of strain gauges and the image data associated with the series of images of the calibration target captured by each image capture device, a mapping between the strain measured by each set of strain gauges and a displacement between the plurality of image capture devices.

A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device of a vehicle, cause the at least one computing device to perform operations comprising:

• applying, via a vibration exciter, a random mechanical excitation to a support structure connected to the vehicle;
• receiving a strain measured over a period of time, at a location of each set of strain gauges of a plurality of sets of strain gauges coupled to the support structure, simultaneous to an application of the random mechanical excitation to the support structure over the period of time, wherein a plurality of image capture devices are coupled to the support structure, and wherein the plurality of image capture devices are calibrated to each other before the random mechanical excitation is applied to the support structure;
• receiving image data associated with a series of images of a calibration target captured, by each image capture device of the plurality of image capture devices, simultaneous to the application of the random mechanical excitation to the support structure;
• generating, based on the strain measured over the period of time by each set of strain gauges and the image data associated with the series of images of the calibration target captured by each image capture device, a mapping between the strain measured by each set of strain gauges and a displacement between the plurality of image capture devices;
• receiving further image data associated with one or more further images captured by each image capture device;
• receiving a further strain measured, by each set of strain gauges, simultaneous to the capture of the one or more images by each image capture device;
• applying the mapping to the further strain measured by each set of strain gauges to generate a motion compensation parameter associated with a predicted displacement between the plurality of image capture devices for calibrating the one or more further images captured by each image capture device;
• and
• correcting, using the motion compensation parameter, a distortion between the one or more further images captured by each image capture device.