Techniques for extrinsic sensor calibration using mobile device

A computer-implemented method for calibrating a perception system of a machine, the method comprising:

• detecting, using a first image generated by an optical sensor of a digital camera system, a first fiducial tag coupled with a remote sensing sensor and a second fiducial tag mounted on a machine frame of the machine, wherein the remote sensing sensor is coupled with the machine frame;
• detecting, using a second image generated by the optical sensor of the digital camera system, the second fiducial tag and a feature of the machine;
• determining, using the first fiducial tag and the second fiducial tag, a first coordinate transformation between the optical sensor and the remote sensing sensor;
• determining, using the second fiducial tag and the feature, a second coordinate transformation between the optical sensor and the machine frame;
• determining, using the first coordinate transformation and the second coordinate transformation, a third coordinate transformation between the remote sensing sensor and the machine frame;
• and
• calibrating, using the third coordinate transformation, the perception system of the machine.

A remote sensing sensor assembly for a perception system of a machine, the remote sensing sensor assembly including a fiducial tag, the remote sensing sensor assembly comprising:

• a housing including:
• a surface including a first portion and a second portion, wherein the first portion defines a first plane and the second portion extends beyond the first plane;
• and
• a remote sensing sensor positioned within the housing.