System learning update for online sensor alignment

A system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving sensor data detected by a sensor system of a vehicle;
• generating, using a coordinate transformation matrix (CTM), a sensor alignment result;
• determining, based on a degradation detection model, that a deviation between the sensor alignment result and one or more of a fleet model, a vehicle model, and a system model exceeds an onboard degradation threshold;
• determining, based on an offline degradation model, that a deviation between the sensor alignment result and an offline model result exceeds an offline degradation threshold;
• and
• triggering corner case data collection to collect additional sensor data detected by the sensor system of the vehicle.