# US 2019/0172225 A1 · Vehicle sensor calibration apparatus and method using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0172225 A1 - Document ID: US20190172225A1 - Status: Published application - Kind: A1 - Application number: 16/133,158 - Filed: 2018-09-17 - Published: 2019-06-06 - Earliest claimed: 2017-12-04 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Sang Heon PARK; Jeong Dan CHOI; Seung Jun HAN; Jungyu KANG; Kyoung Wook MIN; Kyung Bok SUNG; Dong Jin LEE; Yong Woo JO - Web page: https://patentgrep.com/patent/US20190172225A1 ## CPC - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G01S 7/4972: {Alignment of sensor} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - G01S 13/867: {Combination of radar systems with cameras} - G06T 2207/10004: Still image; Photographic image - G06T 2207/30208: Marker matrix - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Provided is a technology for a vehicle sensor calibration, in which a vehicle sensor calibration apparatus according to an embodiment includes a sensor device installed inside a calibration room that is a space in which a vehicle having a vehicle sensor mounted thereon is positioned, and configured to obtain basic position information and basic orientation information of the vehicle, a calibration execution module installed in the vehicle and configured to execute calibration on the vehicle sensor on the basis of information received from the outside, and a control module configured to generate calibration position information and calibration orientation information for calibration of the vehicle by analyzing the basic position information and the basic orientation information obtained by the sensor device. ## Claims ### Claim 1 A vehicle sensor calibration apparatus comprising: a sensor device installed inside a calibration room that is a space in which a vehicle having a vehicle sensor mounted thereon is positioned, and configured to obtain basic position information and basic orientation information of the vehicle; a calibration execution module installed in the vehicle and configured to execute calibration on the vehicle sensor on the basis of information received from the outside; and a control module configured to generate calibration position information and calibration orientation information for calibration of the vehicle by analyzing the basic position information and the basic orientation information obtained by the sensor device. ### Claim 2 (depends on 1) The vehicle sensor calibration apparatus of claim 1, wherein the calibration execution module is configured to execute calibration on the vehicle sensor on the basis of the calibration position information and the calibration orientation information. ### Claim 3 (depends on 1) The vehicle sensor calibration apparatus of claim 1, wherein the sensor device includes at least one of a laser scanner and a vision sensor that is installed inside the calibration room. ### Claim 4 (depends on 1) The vehicle sensor calibration apparatus of claim 1, wherein the control module is configured to generate the calibration position information and the calibration orientation information by an analysis of comparing the basic position information and the basic orientation information with a predetermined calibration pattern. ### Claim 5 (depends on 1) The vehicle sensor calibration apparatus of claim 1, further comprising a pattern display device configured to project a calibration pattern image provided from the outside, wherein a camera configured to image a state in which the calibration pattern image is aligned with the vehicle is installed in the vehicle, and the calibration execution module executes calibration on the vehicle sensor on the basis of image information provided from the camera. ### Claim 6 (depends on 5) The vehicle sensor calibration apparatus of claim 5, wherein the control module is configured to generate the calibration pattern image aligned with the vehicle according to the calibration position information and the calibration orientation information, and provide the generated calibration pattern image. ### Claim 7 (depends on 5) The vehicle sensor calibration apparatus of claim 5, wherein the pattern display device includes at least one of a display panel installed on a floor of the calibration room to project the calibration pattern image and a projector installed on a ceiling of the calibration room to project the calibration pattern image onto the floor of the calibration room. ### Claim 8 (depends on 5) The vehicle sensor calibration apparatus of claim 5, wherein the pattern display device includes a projector installed so as to be moveable in vertical and lateral directions and rotatable, and the control module allows the calibration pattern image to be aligned with the vehicle by moving or rotating the project according to the calibration position information and the calibration orientation information. ### Claim 9 A vehicle sensor calibration method comprising: obtaining basic position information and basic orientation information of a vehicle on which a vehicle sensor is mounted, when the vehicle is positioned inside a calibration room; generating calibration position information and calibration orientation information for calibration of the vehicle by analyzing the basic position information and the basic orientation information; and executing calibration on the vehicle sensor on the basis of the calibration position information and the calibration orientation information. ### Claim 10 (depends on 9) The vehicle sensor calibration method of claim 9, wherein the obtaining is performed by any one of a laser scanner and a vision sensor that is installed inside the calibration room. ### Claim 11 (depends on 9) The vehicle sensor calibration method of claim 9, wherein the generating is achieved through an analysis of comparing the basic position information and the basic orientation information with a predetermined calibration pattern. ### Claim 12 A vehicle sensor calibration method comprising: obtaining basic position information and basic orientation information of a vehicle on which a vehicle sensor is mounted, when the vehicle is positioned inside a calibration room; generating calibration position information and calibration orientation information for calibration of the vehicle by analyzing the basic position information and the basic orientation information; projecting a calibration pattern image that is aligned with the vehicle onto a floor of the calibration room according to the calibration position information and the calibration orientation information; capturing an image in which the calibration pattern image is aligned with the vehicle; and executing calibration on the vehicle sensor on the basis of the image obtained in the capturing. ### Claim 13 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the obtaining is performed by any one of a laser scanner and a vision sensor that is installed inside the calibration room. ### Claim 14 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the generating is achieved through an analysis of comparing the basic position information and the basic orientation information with a predetermined calibration pattern. ### Claim 15 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the projecting includes determining an angle of misalignment of the vehicle with respect to a reference direction on the basis of the calibration direction information, and projecting a calibration pattern image on which the determined angle of misalignment is reflected. ### Claim 16 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the projecting includes projecting the calibration pattern image aligned with the vehicle onto the floor of the calibration room using a display panel installed on the floor of the calibration room. ### Claim 17 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the projecting includes projecting the calibration pattern image aligned with the vehicle onto the floor of the calibration room using a projector installed on a ceiling of the calibration room. ### Claim 18 (depends on 12) The vehicle sensor calibration method of claim 12, wherein the projecting includes projecting the calibration pattern image aligned with the vehicle onto the floor of the calibration room by controlling a projector installed on a ceiling of the calibration room so as to be moveable in front-rear and lateral directions and rotatable.