System and Method for Field Calibrating Video and Lidar Subsystems using Facial Features
First Claim
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1. A system for calibrating a lidar subsystem, the system comprising:
- a lidar subsystem configured to;
direct at least two beams toward a target, wherein the at least two beams comprises a first beam directed toward the target via a first scanning mirror and a second beam directed toward the target via a second scanning mirror,generate a first set of three-dimensional measurements for a plurality of points on the target for the first beam, andgenerate a second set of three-dimensional measurements for a plurality of points on the target for the second beam; and
a processor configured to;
receive, from the lidar subsystem, the first set of three-dimensional measurements and the second set of three-dimensional measurements,compare the first set of three-dimensional measurements with the second set of three-dimensional measurements;
determine one or more offsets in locations of a plurality of facial features between the first set of three-dimensional measurements and the second set of three-dimensional measurements based on the comparison; and
determine one or more calibration adjustments to be made between the first scanning mirror and the second scanning mirror based on the one or more offsets.
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Abstract
A system uses range and Doppler velocity measurements from a lidar subsystem and images from a video subsystem to estimate a six degree-of-freedom trajectory of a target. The video subsystem and the lidar subsystem may be aligned with one another by mapping the measurements of various facial features obtained by each of the subsystems to one another.
16 Citations
5 Claims
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1. A system for calibrating a lidar subsystem, the system comprising:
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a lidar subsystem configured to; direct at least two beams toward a target, wherein the at least two beams comprises a first beam directed toward the target via a first scanning mirror and a second beam directed toward the target via a second scanning mirror, generate a first set of three-dimensional measurements for a plurality of points on the target for the first beam, and generate a second set of three-dimensional measurements for a plurality of points on the target for the second beam; and a processor configured to; receive, from the lidar subsystem, the first set of three-dimensional measurements and the second set of three-dimensional measurements, compare the first set of three-dimensional measurements with the second set of three-dimensional measurements; determine one or more offsets in locations of a plurality of facial features between the first set of three-dimensional measurements and the second set of three-dimensional measurements based on the comparison; and determine one or more calibration adjustments to be made between the first scanning mirror and the second scanning mirror based on the one or more offsets. - View Dependent Claims (2, 3)
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4. A system for calibrating a lidar subsystem and a video subsystem, the system comprising:
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a lidar subsystem configured to direct at least two beams toward a target and that generates a set of three-dimensional measurements for a plurality of points on the target for each of the at least two beams; a video subsystem configured to provide at least one image of the target; and a processor configured to; receive, from the lidar subsystem, the set of three-dimensional measurements, receive, from the video subsystem, the at least one image of the target, determine locations of a plurality of symmetrical facial features based on the at least one image of the target and a 3D symmetry place, wherein the 3D symmetry plane is determined based on the set of three-dimensional measurements, determine a noseridge relative to the 3D symmetry plane, determine a horizontal offset between the locations of the plurality of symmetrical facial features and the 3D symmetry plane, correct the horizontal offset by a shift between the 3D horizontal offset and the noseridge, determine a first location of lip line based on the at least one image of the target; determine a second location of the lip line based on the set of three-dimensional measurements, determine a vertical offset based on the first location and the second location, and determine one or more calibration adjustments based on the corrected horizontal offset and the vertical offset. - View Dependent Claims (5)
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Specification