Online lidar-to-ground alignment

Abstract

A LIDAR-to-vehicle alignment system includes a sensor data collection module configured to collect points of data provided based on outputs of one or more LIDAR sensors and an alignment module configured to identify lane markings based on the points of data, determine a lane marking direction based on the identified lane markings, calculate a yaw of a LIDAR coordinate system relative to a vehicle coordinate system based on the determined lane marking direction, identify a ground plane based on the points of data, calculate a roll and pitch of the LIDAR coordinate system relative to the vehicle coordinate system based on the identified ground plane, and update a transformation matrix based on the calculated yaw, roll, and pitch of the LIDAR coordinate system.

Dependencies are inferred from the claim text.