Apparatus for autonomous driving and method and system for calibrating sensor thereof

A sensor calibration system comprising:

• an unmanned aerial vehicle to which a checkerboard is fixed;
• and
• an autonomous driving device configured to control the unmanned aerial vehicle and included in an autonomous vehicle,
• wherein the autonomous driving device is configured to:
• control the unmanned aerial vehicle to hover at each of a plurality of waypoints of a designated flight path by controlling a relative position of the unmanned aerial vehicle;
• change a posture angle of the unmanned aerial vehicle to a plurality of posture angles corresponding to the waypoints of the flight path;
• generate a plurality of images including the checkerboard and corresponding to the plurality of waypoints and the plurality of posture angles through a plurality of sensors;
• and
• calibrate the plurality of sensors on the basis of a relationship between matching points of the plurality of images.

A sensor calibration method performed by an autonomous driving device, the sensor calibration method comprising:

• controlling an unmanned aerial vehicle, to which a checkerboard is fixed, to hover at each of a plurality of waypoints of a designated flight path;
• changing a posture angle of the unmanned aerial vehicle to a plurality of posture angles corresponding to the waypoints of the flight path;
• generating a plurality of images including the checkerboard and corresponding to the plurality of waypoints and the plurality of posture angles through a plurality of sensors included in the autonomous driving device;
• and
• calibrating the plurality of sensors on the basis of a relationship between matching points of the plurality of images.