System and method for performing lidar self-calibration and application of same

Abstract

A system and a method for performing perorming lidar self-calibration are provided. The system includes a lidar sensor disposed on a vehicle. In operation, the lidar sensor obtains a lidar reference signal based on a plurality of reference objects corresponding to the vehicle, and determines a tilt angle of the lidar sensor based on the lidar reference signal. The tilt angle is then isolated into multiple isolated angles, such as a pitch, a row and a yaw. For each corresponding isolated angle, the lidar sensor determines, based on a corresponding calibration criteria, a corresponding offset between the lidar sensor and the vehicle for the corresponding isolated angle, and performs a compensation to the corresponding isolated angle based on the corresponding offset. Thus, the lidar sensor may detect and compensate any angular offset to the point cloud, thus achieving lidar self-calibration.