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Calibrating sensors mounted on an autonomous vehicle

  • US 10,436,885 B2
  • Filed: 10/15/2018
  • Issued: 10/08/2019
  • Est. Priority Date: 10/19/2017
  • Status: Active Grant
First Claim
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1. A non-transitory computer readable storage medium having instructions for calibrating light detection and ranging (LIDAR) sensors mounted on an autonomous vehicle encoded thereon that, when executed by a processor, cause the processor to:

  • identify from a plurality of LIDAR sensors mounted on the autonomous vehicle, a primary LIDAR sensor and a secondary LIDAR sensor;

    determine a reference angle for the primary LIDAR sensor;

    determine, based on the reference angle of the primary LIDAR sensor, a scan-start time representing a start of a scan and a scan-end time representing an end of a scan;

    receive, from the primary LIDAR sensor, a primary set of scan data recorded from the scan-start time to the scan-end time;

    receive, from the secondary LIDAR sensor, a secondary set of scan data, recorded from the scan-start time to the scan-end time;

    calibrate the primary and secondary LIDAR sensors by determining a relative transform for transforming points between the primary set of scan data and the secondary set of scan data;

    generate a high definition map based on scan data recorded by the plurality of LIDAR sensors, the scan data aggregated using the relative transform; and

    send signals to the controls of the autonomous vehicle based on the high-definition map.

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