Automatic detection of lidar to vehicle alignment state using localization data
AssigneeGM Global Technology Operations LLC
InventorsXinyu Du, Yao Hu, Wende Zhang, Hao Yu
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Abstract
A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, and processing circuitry to obtain the lidar data and localization data. The localization data indicates a location and orientation of the vehicle. The processing circuitry automatically determines an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the localization data.
Claims20
A system in a vehicle comprising:
- a lidar system configured to obtain lidar data in a lidar coordinate system;
- and
- processing circuitry configured to obtain the lidar data and localization data, wherein the localization data indicates a location and orientation of the vehicle, and to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data, wherein the alignment state is determined using the localization data.
A method in a vehicle, the method comprising:
- obtaining, by processing circuitry from a lidar system, lidar data in a lidar coordinate system;
- obtaining, by the processing circuitry, localization data, wherein the localization data indicates a location and orientation of the vehicle;
- and
- automatically determining, by the processing circuitry, an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data, wherein the alignment state is determined using the localization data.
Dependencies are inferred from the claim text.