Calibration of multiple lidars mounted on a vehicle using localization based on a high definition map
US11619724B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 25, 2020 |
| Grant date | Apr 4, 2023 |
| Priority date | — |
| Expiry date | May 28, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/931
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
According to an aspect of an embodiment, operations may comprise (a) accessing a portion of a high definition (HD) map comprising a point cloud of a region through which a vehicle is driving, (b) identifying a base LIDAR from a plurality of LIDARs mounted on the vehicle, (c) for each of the LIDARs: receiving a LIDAR scan comprising a point cloud of the region, and determining a pose for the LIDAR, (d) for each LIDAR other than the base LIDAR, determining a transform for the LIDAR with respect to the base LIDAR, (e) repeating (c) to generate a plurality of samples, (f) for each of the samples, repeating (d) to determine a plurality of transforms for each LIDAR with respect to the base LIDAR, and (g) calibrating each of the LIDARs other than the base LIDAR by determining an aggregate transform for the LIDAR.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.