CALIBRATION OF MULTI-SENSOR SYSTEM
First Claim
1. A method for calibrating sensors mounted on a vehicle, comprising:
- obtaining sensor data relating to one or more common obstacles between the one or more vision sensors and a lidar sensor;
correlating the lidar sensor data pertaining to the one or more common obstacles with the one or more vision sensors pixels;
calculating range and azimuth values for the one or more common obstacles from the lidar sensor data;
calculating range and azimuth values for the one or more common obstacles from the one or more vision sensor data;
formulating translations between the range values of the one or more common obstacles and the one or more sensor tilt parameters; and
perform recursive least squares to estimate an estimated sensor tilt for the one or more vision sensors that can reduce range errors in the vision sensors.
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Accused Products
Abstract
A method for preprocessing sensor data applicable to sensor fusion for one or more sensors mounted on a vehicle is presented. The method comprises obtaining sensor data relating to common obstacles between the vision sensors and a lidar sensor, calculating range and azimuth values for the common obstacles from the lidar sensor data, and calculating range and azimuth values for the common obstacles from the vision sensor data. Then the method correlates the lidar sensor data pertaining to the common obstacles with the vision sensors pixels, formulates translations between the range values of the common obstacles and the one or more sensor tilt parameters, and performs recursive least squares to estimate an estimated sensor tilt for the vision sensors that can reduce range errors in the vision sensors.
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Citations
20 Claims
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1. A method for calibrating sensors mounted on a vehicle, comprising:
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obtaining sensor data relating to one or more common obstacles between the one or more vision sensors and a lidar sensor; correlating the lidar sensor data pertaining to the one or more common obstacles with the one or more vision sensors pixels; calculating range and azimuth values for the one or more common obstacles from the lidar sensor data; calculating range and azimuth values for the one or more common obstacles from the one or more vision sensor data; formulating translations between the range values of the one or more common obstacles and the one or more sensor tilt parameters; and perform recursive least squares to estimate an estimated sensor tilt for the one or more vision sensors that can reduce range errors in the vision sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An autonomous vehicle navigation system, comprising:
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one or more vision sensors mounted on a vehicle; a lidar sensor mounted on the vehicle; a processing unit coupled to the one or more vision sensors and the lidar sensor operable to; receive data pertaining to the initial alignment and mounting of the lidar sensor and the one or more vision sensors on the vehicle; receive data relating to one or more common obstacles between the one or more vision sensors and the lidar sensor; calculate range and azimuth values for the one or more common obstacles from the lidar sensor data; calculate range and azimuth values for the one or more common obstacles from the one or more vision sensor data; correlate the lidar sensor data pertaining to the one or more common obstacles with the one or more vision sensors pixels; formulate translations between the range values of the one or more common obstacles and the one or more sensor tilt parameters; and perform recursive least squares to estimate an estimated sensor tilt for the one or more vision sensors that can reduce range errors in the vision sensors. - View Dependent Claims (10, 11, 12, 13)
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14. A computer program product, comprising:
a computer readable medium having instructions stored thereon for a method of calibrating one or more sensors on a vehicle, the method comprising; obtaining sensor data relating to one or more common obstacles between the one or more vision sensors and a lidar sensor; calculating range and azimuth values for the one or more common obstacles from the lidar sensor data; calculating range and azimuth values for the one or more common obstacles from the one or more vision sensor data; correlating the lidar sensor data pertaining to the one or more common obstacles with the one or more vision sensors pixels; formulating translations between the range values of the one or more common obstacles and the one or more sensor tilt parameters; and perform recursive least squares to estimate an estimated sensor tilt for the one or more vision sensors that can reduce range errors in the vision sensors. - View Dependent Claims (15, 16, 17, 18, 19, 20)
Specification