Radar-lidar extrinsic calibration in unstructured environments
AssigneeGM Cruise Holdings LLC
InventorAnkit Rohatgi
Life of this patent
Estimating the term…
Abstract
Methods and systems are provided for performing radar-to-lidar calibration. In some aspects, a process can include steps for receiving, at an autonomous vehicle system, radar data from a radar of an object, receiving, at the autonomous vehicle system, lidar data from a lidar of the object, generating, by the autonomous vehicle system, a plurality of cost functions based on the radar data and the lidar data of the object, and adjusting, by the autonomous vehicle system, at least one setting based on the plurality of cost functions of the radar data and the lidar data of the object.
Claims20
A computer-implemented method for performing radar-to-lidar calibration, the computer-implemented method comprising:
- receiving, at an autonomous vehicle system, radar data from a radar of an object;
- receiving, at the autonomous vehicle system, lidar data from a lidar of the object;
- generating, by the autonomous vehicle system, a plurality of cost functions based on the radar data and the lidar data of the object;
- and
- adjusting, by the autonomous vehicle system, at least one setting based on the plurality of cost functions of the radar data and the lidar data of the object.
A system for performing radar-to-lidar calibration, the system comprising:
- one or more processors;
- and
- at least one computer-readable storage medium having stored therein instructions which, when executed by the one or more processors, cause the system to:
- receive radar data from a radar of an object;
- receive lidar data from a lidar of the object;
- generate a plurality of cost functions based on the radar data and the lidar data of the object;
- and
- adjust at least one setting based on the plurality of cost functions of the radar data and the lidar data of the object.
A non-transitory computer-readable storage medium comprising:
- instructions stored on the non-transitory computer-readable storage medium, the instructions, when executed by one more processors, cause the one or more processors to:
- receive radar data from a radar of an object;
- receive lidar data from a lidar of the object;
- generate a plurality of cost functions based on the radar data and the lidar data of the object;
- and
- adjust at least one setting based on the plurality of cost functions of the radar data and the lidar data of the object.
Dependencies are inferred from the claim text.