Calibration for an autonomous vehicle lidar module
AssigneeUber Technologies, Inc.
InventorsDavid McAllister Bradley, Gehua Yang
Life of this patent
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Abstract
A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle's LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.
Claims20
A light-detection and ranging (LIDAR) calibration system for an autonomous vehicle, the LIDAR calibration system comprising:
- one or more processors;
- and
- one or more memory resources storing instructions that, when executed by the one or more processors, cause the LIDAR calibration system to:
- for a set of laser scanners of a LIDAR module, detect a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals;
- and
- based on the set of return signals, generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.
A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
- for a set of laser scanners of a LIDAR module of an autonomous vehicle, detect a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals;
- and
- based on the set of return signals, generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.
A computer-implemented method of calibrating intrinsic parameters of a LIDAR module of an autonomous vehicle, the method comprising:
- for a set of laser scanners of the LIDAR module, detecting a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals;
- and
- based on the set of return signals, generating a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.
Dependencies are inferred from the claim text.