Cross-validating sensors of an autonomous vehicle

A system for validating a sensor configured to detect objects, the system comprising:

• one or more processors configured to:
• receive laser sensor data from a laser-based sensor configured to detect objects in an environment of the laser-based sensor;
• receive an image of the environment captured by a second sensor configured to detect objects in the environment;
• identify a vehicle in the image;
• assign a first object value to the vehicle in the image, the first object value identifying at least one dimension of the vehicle in the image;
• detect the vehicle from the laser sensor data;
• assign a second object value to the vehicle from the laser sensor data, the second object value identifying the at least one dimension of the vehicle from the laser sensor data;
• assign a first object value to the vehicle in the image including a first bounding box for the vehicle in the image, the first object value identifying a first dimension of the first bounding box defining a first size of the first bounding box;
• assign a second object value to the vehicle in the image including a second bounding box for the vehicle in the image, the second object value identifying a second dimension of the second bounding box defining a second size of the second bounding box;
• and
• validate accuracy of the laser-based sensor by comparing the first dimension to the second dimension.