Calibration targets and autonomous vehicle systems for communicating with same
AssigneeTORC Robotics, Inc.
InventorPo-wei Lin
Life of this patent
Estimating the term…
Abstract
Calibration targets including patterns are disclosed. The calibration targets are visually displayed on carrier components and include an internal circular region, and a plurality of pattern fiducials positioned within the internal circular region. The plurality of pattern fiducials define a fiducial pattern of the calibration target. Additionally, the calibration target includes a plurality of reference points circumferentially disposed within and around a perimeter of the internal circular region, and a hexagonal border surrounding the internal circular region including the plurality of pattern fiducials and the plurality of reference points.
Claims20
A calibration target visually displayed on a carrier component, the calibration target comprising:
- an internal circular region;
- a plurality of pattern fiducials positioned within the internal circular region, the plurality of pattern fiducials defining a fiducial pattern;
- a plurality of reference points circumferentially disposed within and around a perimeter defining the internal circular region;
- and
- a hexagonal border surrounding the internal circular region including the plurality of pattern fiducials and the plurality of reference points,
- wherein each of the plurality of reference points extend from the hexagonal border into the internal circular region, adjacent at least one of the plurality of pattern fiducials positioned within the internal circular region.
A system comprising:
- at least one calibration target visually displayed on a carrier component and including:
- an internal circular region;
- a plurality of pattern fiducials positioned within the internal circular region, the plurality of pattern fiducials defining a fiducial pattern;
- a plurality of reference points circumferentially disposed within and around a perimeter of the internal circular region;
- and
- a hexagonal border surrounding the internal circular region including the plurality of pattern fiducials and the plurality of reference points;
- and
- an autonomous vehicle in operable communication with the at least one calibration target, the autonomous vehicle including:
- a plurality of sensors configured to generate an output signal relating to the at least one calibration target;
- and
- at least one autonomous vehicle computing system in electronic communication with the plurality of sensors, the at least one autonomous vehicle computing system configured to calibrate the plurality of sensors by performing processes including:
- obtaining the generated output signal generated by each of the plurality of sensors;
- determining, based on the obtained output signals, a location and an orientation for each of the plurality of pattern fiducials and each of the plurality of reference points;
- and
- calibrating at least one sensor of the plurality of sensors based on at least one of the determined location or the determined orientation for each of the plurality of pattern fiducials or each of the plurality of reference points.
A method of calibrating a plurality of sensors of an autonomous vehicle, the method comprising:
- obtaining an output signal generated by each of the plurality of sensors, the output signal relating to a calibration target visually displayed on a carrier component and including:
- an internal circular region;
- a plurality of pattern fiducials positioned within the internal circular region, the plurality of pattern fiducials defining a fiducial pattern;
- a plurality of reference points circumferentially disposed within and around a perimeter of the internal circular region;
- and
- a hexagonal border surrounding the internal circular region including the plurality of pattern fiducials and the plurality of reference points;
- determining, based on the obtained output signals, a location and an orientation for each of the plurality of pattern fiducials and each of the plurality of reference points;
- and
- calibrating at least one sensor of the plurality of sensors based on at least one of the determined location or the determined orientation for each of the plurality of pattern fiducials or each of the plurality of reference points.
Dependencies are inferred from the claim text.