Distributed sensor calibration and sensor sharing using cellular vehicle-to-everything (cv2x) communication

A device, comprising:

• a memory;
• and
• one or more processors operatively coupled to the memory, the memory and the one or more processors configured to:
• obtain, from an external source, calibration data that includes a first set of measurements and corresponding timestamps related to a position of one or more objects in a reference frame associated with the external source;
• identify a second set of measurements and corresponding timestamps related to the position of the one or more objects within a field of view of one or more onboard sensors associated with a vehicle;
• update a calibration table to include information related to a six degrees of freedom (6DOF) position for the one or more onboard sensors based at least in part on a comparison of one or more of the first set of measurements and one or more of the second set of measurements that are determined to be most time-aligned based at least in part on the corresponding timestamps;
• and
• convert sensor-derived location information from a source reference frame to a reference frame associated with the vehicle using the updated calibration table.

A non-transitory computer-readable medium storing one or more instructions, the one or more instructions comprising:

• one or more instructions that, when executed by one or more processors of a device, cause the one or more processors to:
• obtain, from an external source, calibration data that includes a first set of measurements and corresponding timestamps related to a position of one or more objects in a reference frame associated with the external source;
• identify a second set of measurements and corresponding timestamps related to the position of the one or more objects within a field of view of one or more onboard sensors associated with a vehicle;
• update a calibration table to include information related to a six degrees of freedom (6DOF) position for the one or more onboard sensors based at least in part on a comparison of one or more of the first set of measurements and one or more of the second set of measurements that are determined to be most time-aligned based at least in part on the corresponding timestamps;
• and
• convert sensor-derived location information from a source reference frame to a reference frame associated with the vehicle using the updated calibration table.

An apparatus, comprising:

• means for obtaining, from an external source, calibration data that includes a first set of measurements and corresponding timestamps related to a position of one or more objects in a reference frame associated with the external source;
• means for identifying a second set of measurements and corresponding timestamps related to the position of the one or more objects within a field of view of one or more onboard sensors associated with a vehicle;
• means for updating a calibration table to include information related to a six degrees of freedom (6DOF) position for the one or more onboard sensors based at least in part on a comparison of one or more of the first set of measurements and one or more of the second set of measurements that are determined to be most time-aligned based at least in part on the corresponding timestamps;
• and
• means for converting sensor-derived location information from a source reference frame to a reference frame associated with the vehicle using the updated calibration table.