Calibration of a vehicle sensor
AssigneeZF Friedrichshafen AG
InventorsMarko Alexovski, Aless Lasaruk
Life of this patent
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Abstract
A method (200) for calibrating a vehicle sensor (105) mounted on a vehicle (110) includes: scanning a marker (120) in the area of the vehicle sensor (105) by a sensor device (115); determining a first pose of the marker (120) in relation to the sensor device (115); scanning a structural feature (140) of the vehicle (110) by the sensor device (115); determining a second pose of the vehicle (110) in relation to the sensor device (115); and determining a third pose of the marker (120) in relation to the vehicle (110) on the basis of the first pose and the second pose.
Claims15
A method (200) for calibrating a vehicle sensor (105) mounted on a vehicle (110), comprising:
- scanning (205) a marker (120) in the area of the vehicle sensor (105) with a sensor device (115), the sensor device (115) being separate of the vehicle (110);
- determining (210), with a processing device (125), a first pose of the marker (120) in relation to the sensor device (115) based at least in part on sensor data generated by the sensor device (115) when scanning the marker (120);
- scanning (220) a structural feature (140) of the vehicle (110) with the sensor device (115), the sensor device (115) being located under the vehicle (110) while scanning the structural feature (140) of the vehicle (110);
- determining (225), with the processing device (125), a second pose of the vehicle (110) in relation to the sensor device (115) based at least in part on sensor data generated by the sensor device (115) when scanning the structural feature (140) of the vehicle (110);
- determining (260), with the processing device (125), a third pose of the marker (120) in relation to the vehicle (110) on the basis of the first pose and the second pose;
- and
- calibrating the vehicle sensor (105) mounted on the vehicle (110) on the basis of the third pose in relation to the vehicle (110).
A device (100) for calibrating a vehicle sensor (105) mounted on a vehicle (110), comprising:
- a sensor device (115) configured for scanning a marker (120) in the area of the vehicle sensor (105) and a structural feature (140) of the vehicle (110), the sensor device (115) being separate of the vehicle (110), the sensor device (115) being located under the vehicle (110) while scanning the structural feature (140) of the vehicle (110);
- and
- a processing device (125) configured for:
- determining a first pose of the marker (120) in relation to the sensor device (115) and a second pose of the vehicle (110) in relation to the sensor device (115) based at least in part on sensor data generated by the sensor device (115) during scanning of the marker (120) and during scanning of the structural feature (140) of the vehicle (110);
- and
- determining a third pose of the marker (120) in relation to the vehicle (110) on the basis of the first pose and the second pose, the third pose being usable for calibrating the vehicle sensor (105).
A method (200) for calibrating a vehicle sensor (105) mounted on a vehicle (110), comprising:
- scanning (205) a marker (120) in the area of the vehicle sensor (105) with a sensor device (115), the sensor device (115) being separate of the vehicle (110) a line of sight of the sensor device (115) between the sensor device (115) and the marker (120) being free when scanning the marker (120);
- determining (210), with a processing device (125), a first pose of the marker (120) in relation to the sensor device (115) based at least in part on sensor data generated by the sensor device (115) when scanning the marker (120);
- scanning (220) a structural feature (140) of the vehicle (110) with the sensor device (115), the vehicle (110) being between the sensor device (115) and the marker (120) in the line of sight of the sensor device (115) when scanning the structural feature (140);
- determining (225), with the processing device (125), a second pose of the vehicle (110) in relation to the sensor device (115) based at least in part on sensor data generated by the sensor device (115) when scanning the structural feature (140) of the vehicle (110);
- determining (260), with the processing device (125), a third pose of the marker (120) in relation to the vehicle (110) on the basis of the first pose and the second pose;
- and
- calibrating the vehicle sensor (105) mounted on the vehicle (110) on the basis of the third pose in relation to the vehicle (110).
Dependencies are inferred from the claim text.