Online sensor calibration for autonomous vehicles
AssigneeDeepmap Inc.
InventorsQian Gong, Lin Yang, Mark Damon Wheeler
Life of this patent
Estimating the term…
Abstract
According to an aspect of an embodiment, operations may comprise capturing, at a vehicle as the vehicle travels, LIDAR scans and camera images. The operations may further comprise selecting, at the vehicle as the vehicle travels, a subset of the LIDAR scans and the camera images that are determined to be useful for calibration. The operations may further comprise computing, at the vehicle as the vehicle travels, LIDAR-to-camera transformations for the subset of the LIDAR scans and the camera images using an optimization algorithm. The operations may further comprise calibrating, at the vehicle as the vehicle travels, one or more sensors of the vehicle based on the LIDAR-to-camera transformations.
Claims18
A computer-implemented method, comprising:
- capturing, at a vehicle as the vehicle travels, LIDAR scans and camera images;
- selecting, at the vehicle as the vehicle travels, a subset of the LIDAR scans and the camera images that are determined to be useful for calibration;
- computing, at the vehicle as the vehicle travels, LIDAR-to-camera transformations for the subset of the LIDAR scans and the camera images using an optimization algorithm;
- and
- calibrating, at the vehicle as the vehicle travels, one or more sensors of the vehicle based on the LIDAR-to-camera transformations.
One or more non-transitory computer readable media storing instructions that in response to being executed by one or more processors, cause a computer system to perform operations, the operations comprising:
- capturing, at a vehicle as the vehicle travels, LIDAR scans and camera images;
- selecting, at the vehicle as the vehicle travels, a subset of the LIDAR scans and the camera images that are determined to be useful for calibration;
- computing, at the vehicle as the vehicle travels, LIDAR-to-camera transformations for the subset of the LIDAR scans and the camera images using an optimization algorithm;
- and
- calibrating, at the vehicle as the vehicle travels, one or more sensors of the vehicle based on the LIDAR-to-camera transformations.
A computer system comprising:
- one or more processors;
- and
- one or more non-transitory computer readable media storing instructions that in response to being executed by the one or more processors, cause the computer system to perform operations, the operations comprising:
- capturing, at a vehicle as the vehicle travels, LIDAR scans and camera images;
- selecting, at the vehicle as the vehicle travels, a subset of the LIDAR scans and the camera images that are determined to be useful for calibration;
- computing, at the vehicle as the vehicle travels, LIDAR-to-camera transformations for the subset of the LIDAR scans and the camera images using an optimization algorithm;
- and
- calibrating, at the vehicle as the vehicle travels, one or more sensors of the vehicle based on the LIDAR-to-camera transformations.
Dependencies are inferred from the claim text.