US 2022/0187432 A1 · SYSTEMS AND METHODS FOR CALIBRATING A CAMERA AND A LIDAR

Abstract

The present disclosure relates to a system and a method for calibrating and a camera and a LIDAR of an autonomous vehicle. The system may perform the method to: obtain a first projection of a target object from the camera when the autonomous vehicle is at a first distance from the target object; obtain 3D data of the target object from the LIDAR when the autonomous vehicle is at a second distance from the target object, wherein the first distance is greater than the second distance; determine a second projection of the target object based on the 3D data, wherein the second projection is an estimated projection of the target object when the autonomous vehicle is at the first distance from the target object; and determine a first relative pose of the camera relative to the LIDAR based on the first projection and the second projection.

Claims21

Dependent claims

A system for calibrating a camera and a LIDAR of an autonomous vehicle, comprising:

at least one storage medium including a set of instructions for calibrating the camera and the LIDAR;
and
at least one processor in communication with the storage medium, wherein when executing the set of instructions, the at least one processor is directed to:
obtain a first projection of a target object from the camera when the autonomous vehicle is at a first distance from the target object;
obtain 3D data of the target object from the LIDAR when the autonomous vehicle is at a second distance from the target object, wherein the first distance is greater than the second distance;
determine a second projection of the target object based on the 3D data, wherein the second projection is an estimated projection of the target object when the autonomous vehicle is at the first distance from the target object;
and
determine a first relative pose of the camera relative to the LIDAR based on the first projection and the second projection.

5 more elements

A non-transitory readable medium, comprising at least one set of instructions for calibrating a camera and a LIDAR of an autonomous vehicle, wherein when executed by at least one processor of an electrical device, the at least one set of instructions directs the at least one processor to perform a method, the method comprising:

obtaining a first projection of a target object from the camera when the autonomous vehicle is at a first distance from the target object;
obtaining 3D data of the target object from the LIDAR when the autonomous vehicle is at a second distance from the target object, wherein the first distance is greater than the second distance;
determining a second projection of the target object based on the 3D data, wherein the second projection is an estimated projection of the target object when the autonomous vehicle is at the first distance from the target object;
and
determining a first relative pose of the camera relative to the LIDAR based on the first projection and the second projection.

2 more elements

Dependencies are inferred from the claim text.

Systems and methods for calibrating a camera and a lidar

Life of this patent

Systems and methods for calibrating a camera and a lidar

Life of this patent

Abstract

Claims21