logo

For the Inventor, By the Inventor

The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11734880 B1

PDFFull Text
Date of Patent:
Aug. 22, 2023

Filed:

Dec. 31, 2020

Sensor calibration with environment map

Applicant:

Waymo Llc, Mountain View, CA (US);

Inventors:

Christian Lauterbach, Campbell, CA (US);

Colin Andrew Braley, Mountain View, CA (US);

Carlos Hernandez Esteban, Kirkland, WA (US);

Michael Montemerlo, Mountain View, CA (US);

Assignee:

Waymo LLC, Mountain View, CA (US);

Attorney:

Fish & Richardson P.C.

Primary Examiner:

Saptarshi Mazumder

Int. Cl.
CPC ...
G06T 17/00 (2006.01); G06T 15/20 (2011.01); G01C 21/36 (2006.01); G06V 20/20 (2022.01); G06V 20/56 (2022.01); G01S 17/89 (2020.01); G06T 17/05 (2011.01); G06T 17/20 (2006.01); G01S 17/88 (2006.01); G06V 20/58 (2022.01); G06V 10/44 (2022.01); G06F 18/24 (2023.01); G06F 18/2113 (2023.01);
U.S. Cl.
CPC ...
G06T 17/00 (2013.01); G01C 21/3667 (2013.01); G01S 17/88 (2013.01); G01S 17/89 (2013.01); G06F 18/2113 (2023.01); G06F 18/24 (2023.01); G06T 15/205 (2013.01); G06T 17/05 (2013.01); G06T 17/20 (2013.01); G06V 10/44 (2022.01); G06V 20/20 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G06T 2207/10028 (2013.01); G06T 2210/56 (2013.01);
Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sensor calibration with environment map. In some implementations, a three-dimensional surfel representation of a real-world environment is obtained. One or more surfels of the surfel representation having a particular classification of the different classifications are selected. Input sensor data from one or more sensors installed on an autonomous or semi-autonomous vehicle are received. The input sensor data is compared to the surfel representation to identify one or more differences between the observation and the surfel representation. At least one sensor of the one or more sensors is calibrated using the one or more differences between the observation and the surfel representation.

Find Patent Forward Citations

Loading…