Sensor calibration
AssigneeZoox, Inc.
InventorTill Kroeger
Life of this patent
Estimating the term…
Abstract
This disclosure is directed to calibrating sensors mounted on an autonomous vehicle. First image data and second image data representing an environment can be captured by first and second cameras, respectively (and or a single camera at different points in time). Point pairs comprising a first point in the first image data and a second point in the second image data can be determined and projection errors associated with the points can be determined. A subset of point pairs can be determined, e.g., by excluding point pairs with the highest projection error. Calibration data associated with the subset of points can be determined and used to calibrate the cameras without the need for calibration infrastructure.
Claims21
A system comprising:
- a vehicle configured to traverse through an environment, the vehicle comprising:
- a plurality of cameras disposed on a body of the vehicle such that fields of view of at least two of the cameras at least partially overlap;
- one or more processors;
- and
- computer-readable media storing instructions executable by the one or more processors, wherein the instructions cause the system to perform operations comprising:
- receiving a set of images from the plurality of cameras, the set of images comprising images representing the environment captured by the plurality of cameras,
- determining, for the set of images, a plurality of point pairs, each of the point pairs comprising a first point in one of the images of the set of images and a second point in another of the images of the set of images, the first point and the second point corresponding to a same image feature;
- determining errors associated with the plurality of point pairs, the errors comprising, at least in part, a distance between the first point and an epipolar line corresponding to the second point;
- determining, based at least in part on the errors, a subset of the plurality of point pairs;
- determining, from the subset of the plurality of point pairs, a correction function representative of a misalignment of an estimated relative pose of the cameras;
- and
- calibrating the plurality of cameras, based at least in part on the correction function.
A method comprising:
- receiving first image data comprising a first image of an environment captured by a first camera disposed on a system, the first camera having a first field of view;
- receiving second image data comprising a second image of the environment captured by a second camera disposed on the system, the second camera having a second field of view at least partially overlapping the first field of view;
- determining a plurality of point pairs, each of the point pairs comprising a first point in the first image and a second point in the second image corresponding to the first point;
- determining projection errors for individual point pairs of the plurality of point pairs, the error comprising, at least in part, a distance between the first point and an epipolar line corresponding to the second point in the first image;
- determining, based at least in part on the projection errors, a subset of the plurality of point pairs;
- and
- determining, from the subset of the plurality of point pairs, a calibration function representative of an estimated relative pose of the first camera and the second camera.
A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:
- receiving first image data comprising a first image of an environment captured by a first camera, the first camera having a first field of view;
- receiving second image data comprising a second image of the environment captured by a second camera, the second camera having a second field of view at least partially overlapping the first field of view;
- determining a plurality of point pairs, each of the point pairs comprising a first point in the first image and a second point in the second image corresponding to the first point;
- determining projection errors for the plurality of point pairs by:
- determining, for a first point in the first image of the plurality of point pairs, an epipolar line corresponding to the first point in the second image, and
- comparing the second point to the epipolar line in the second image;
- determining, based at least in part on the projection errors, a subset of the plurality of point pairs;
- and
- determining, from the subset of the plurality of point pairs, a calibration function representative of a misalignment of the first camera relative to the second camera.
(canceled)
Dependencies are inferred from the claim text.