Gm Cruise Holdings LLC

Nicholas Semansky

Adam Samuel Cadien

Zhonghua Ma

Jabeer Ahmed

Daniel H Lee

Radu Raduta

Zhichang (Henry) Yan

Elisha Ross Atkins

Zhizhong (Joe) Yan

Sensors coupled to a vehicle are calibrated, optionally using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. One vehicle sensor captures a representation of one feature of a sensor target, while another vehicle sensor captures a representation of a different feature of the sensor target, the two features of the sensor target having known relative positioning on the target. The vehicle generates a transformation that maps the captured representations of the two features to positions around the vehicle based on the known relative positioning of the two features on the target.

Extrinsic calibration of multiple vehicle sensors using combined target detectable by multiple vehicle sensors

Sensors coupled to a vehicle are calibrated using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. The sensors capture data at each vehicle orientation along the rotation. The vehicle's computer identifies representations of the sensor targets within the data captured by the sensors, and calibrates the sensor based on these representations, for example by generating a transformation based on mapping positions of these representations in the data to known positions of the sensor targets, such as to correct lens distortion, the transformation applied to post-calibration sensor data.

Vehicle sensor calibration system using dynamic scene

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San Francisco, CA, United States of America

Nicholas Semansky