Systems and methods for calibrating an inertial measurement unit and a camera
AssigneeBeijing Voyager Technology Co., Ltd.
InventorZhen WANG
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to a system and a method for calibrating an inertial measurement unit (IMU) and a camera of an autonomous vehicle. The system may perform the method to: obtain a track of the autonomous vehicle traveling straight; determine an IMU pose of the IMU relative to a first coordinate system; determine a camera pose of the camera relative to a second coordinate system; determine a relative coordinate pose between the first coordinate system and the second coordinate system; and determine a relative pose between the camera and the IMU based on the IMU pose, the camera pose, and the relative coordinate pose.
Claims21
A system for calibrating an inertial measurement unit (IMU) and a camera of an autonomous vehicle, comprising:
- at least one storage medium including a set of instructions for calibrating the IMU and the camera;
- 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 track of the autonomous vehicle traveling straight;
- determine an IMU pose of the IMU relative to a first coordinate system;
- determine a camera pose of the camera relative to a second coordinate system;
- determine a relative coordinate pose between the first coordinate system and the second coordinate system;
- and
- determine a relative pose between the camera and the IMU based on the IMU pose, the camera pose, and the relative coordinate pose.
A method for calibrating an inertial measurement unit (IMU) and a camera of an autonomous vehicle, implemented on a computing device including at least one storage medium including a set of instructions, and at least one processor in communication with the storage medium, the method comprising:
- obtaining a track of the autonomous vehicle traveling straight;
- determining an IMU pose of the IMU relative to a first coordinate system;
- determining a camera pose of the camera relative to a second coordinate system;
- determining a relative coordinate pose between the first coordinate system and the second coordinate system;
- and
- determining a relative pose between the camera and the IMU based on the IMU pose, the camera pose, and the relative coordinate pose.
A non-transitory readable medium, comprising at least one set of instructions for calibrating an inertial measurement unit (IMU) and a camera 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 track of the autonomous vehicle traveling straight;
- determining an IMU pose of the IMU relative to a first coordinate system;
- determining a camera pose of the camera relative to a second coordinate system;
- determining a relative coordinate pose between the first coordinate system and the second coordinate system;
- and
- determining a relative pose between the camera and the IMU based on the IMU pose, the camera pose, and the relative coordinate pose.
(canceled)
Dependencies are inferred from the claim text.