US 12,759,580 B2 · Accuracy verification of a perception system of a vehicle

Abstract

A method of verifying accuracy of a perception system of a vehicle includes causing the vehicle to traverse a path around a target that is fixed in an environment. The target has a known pose. The path is configured so that the target comes into a respective field of view (FOV) of each respective perception sensor of one or more perception sensors of the perception system along the path. The method further includes, for each respective perception sensor of the one or more perception sensors, while the target is within the respective FOV of the respective perception sensor, acquiring a respective image of the target using the respective perception sensor; at the perception system, determining a respective pose of the target based on the respective image; and at a computer system communicatively coupled with the perception system, determining whether the respective pose matches the known pose of the target.

Claims19

Dependent claims

A method of verifying accuracy of a perception system of a vehicle, the perception system including one or more perception sensors mounted on the vehicle, the method comprising, for each respective perception sensor of the one or more perception sensors:

moving a target to a respective location that is within a respective field of view (FOV) of the respective perception sensor;
acquiring a respective image of the target using the respective perception sensor while the target is at the respective location;
at the perception system, determining a respective pose of the target based on the respective image;
determining a respective reference pose of the target while the target is at the respective location using a positioning solution attached to the target;
and
at a computer system communicatively coupled to the perception system and the positioning solution, determining whether the respective pose matches the respective reference pose.

3 more elements

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for verifying accuracy of a perception system of a vehicle, the perception system including one or more perception sensors mounted on the vehicle, the operations comprising, for each respective perception sensor of the one or more perception sensors:

moving a target to a respective location that is within a respective field of view (FOV) of the respective perception sensor;
acquiring a respective image of the target using the respective perception sensor while the target is at the respective location;
at the perception system, determining a respective pose of the target based on the respective image;
determining a respective reference pose of the target while the target is at the respective location using a positioning solution attached to the target;
and
at a computer system communicatively coupled to the perception system and the positioning solution, determining whether the respective pose matches the respective reference pose.

3 more elements

Dependencies are inferred from the claim text.

Accuracy verification of a perception system of a vehicle

Life of this patent

Accuracy verification of a perception system of a vehicle

Life of this patent

Abstract

Claims19