Online validation of LIDAR-to-LIDAR alignment and LIDAR-to-vehicle alignment
US12174301B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 17, 2021 |
| Grant date | Dec 24, 2024 |
| Priority date | — |
| Expiry date | Oct 14, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2520/18
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A LIDAR-to-LIDAR alignment system includes a memory and an autonomous driving module. The memory stores first and second points based on outputs of first and second LIDAR sensors. The autonomous driving module performs a validation process to determine whether alignment of the LIDAR sensors satisfy an alignment condition. The validation process includes: aggregating the first and second points in a vehicle coordinate system to provide aggregated LIDAR points; based on the aggregated LIDAR points, performing (i) a first method including determining pitch and roll differences between the first and second LIDAR sensors, (ii) a second method including determining a yaw difference between the first and second LIDAR sensors, or (iii) point cloud registration to determine rotation and translation differences between the first and second LIDAR sensors; and based on results of the first method, the second method or the point cloud registration, determining whether the alignment condition is satisfied.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.