Lidar and image calibration for autonomous vehicles
US11199614B1 · kind B1 · utility
8Cited by
3References
20Claims
0Family size
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Key dates
| Filing date | Jul 8, 2020 |
| Grant date | Dec 14, 2021 |
| Priority date | — |
| Expiry date | Jul 8, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A coordinate system of a camera of an autonomous vehicle is calibrated to a coordinate system of a LIDAR module using the hand eye equation. However, traditional solutions to the hand eye equation are based on robust rotation about three axes. While calibrating a camera of a car, there is usually robust rotation about only one axis. Degeneracy in rotation about two axes makes the traditional hand eye equation challenging to solve. A rotation vector is defined that has a scaling value. By using the rotation vector, the hand eye equation can be solved to calibrate a pose of the camera to a pose of the LIDAR module.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.