MOTION-BASED MULTI-SENSOR CALIBRATION
First Claim
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1. A sensor processing module comprising:
- a memory for storing computer-readable software instructions therein;
a processor configured to receive a plurality of sensor signals, each associated with an attribute of an environment, and to execute the computer-readable software instructions to;
determine a first estimated motion via a first sensor signal of the plurality of sensor signals while determining a second estimated motion via a second sensor signal of the plurality of sensor signals; and
determine, based on the first estimated motion and the second estimated motion, a calibration transform relating a first orientation and a first position of a first sensor associated with the first sensor signal to a second orientation and a second position of a second sensor associated with the second sensor signal.
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Abstract
A method is provided for motion-based calibration of multiple sensors. A first estimated motion is determined (e.g., for a vehicle or other object) via one of the sensors while determining a second estimated motion via a second of the sensors. A calibration transform is determined and relates the orientation and position of the first sensor to the orientation and position of the second sensor based on the estimated motions received from each sensor.
8 Citations
20 Claims
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1. A sensor processing module comprising:
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a memory for storing computer-readable software instructions therein; a processor configured to receive a plurality of sensor signals, each associated with an attribute of an environment, and to execute the computer-readable software instructions to; determine a first estimated motion via a first sensor signal of the plurality of sensor signals while determining a second estimated motion via a second sensor signal of the plurality of sensor signals; and determine, based on the first estimated motion and the second estimated motion, a calibration transform relating a first orientation and a first position of a first sensor associated with the first sensor signal to a second orientation and a second position of a second sensor associated with the second sensor signal. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of calibrating a plurality of sensors provided on a vehicle, the method comprising:
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determining a first estimated motion of the vehicle via a first sensor of the plurality of sensors while determining a second estimated motion of the vehicle via a second sensor of the plurality of sensors, the first sensor having a first orientation and a first position with respect to the vehicle, and the second sensor having a second orientation and a second position with respect to the vehicle; and determining, via a processor, a calibration transform relating the first orientation and the first position of the first sensor to the second orientation and the second position of the second sensor based on the first estimated motion and the second estimated motion. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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14. A vehicle comprising:
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a plurality of sensors, each configured to sense an attribute of an environment of the vehicle; a sensor processing module communicatively coupled to the plurality of sensors, the sensor processing module configured to; determine a first estimated motion of the vehicle via a first sensor of the plurality of sensors while determining a second estimated motion of the vehicle via a second sensor of the plurality of sensors, the first sensor having a first orientation and a first position with respect to the vehicle, and the second sensor having a second orientation and a second position with respect to the vehicle; and determine, via a processor, a calibration transform relating the first orientation and the first position of the first sensor to the second orientation and the second position of the second sensor based on the first estimated motion and the second estimated motion. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification