Methods and related systems for detecting miscalibration of extrinsic lidar parameters

Abstract

Systems and methods for detecting extrinsic parameter miscalibration for light detection and ranging ('LiDAR') devices are disclosed. According to one embodiment, a LiDAR detection method includes scanning, by a LiDAR system comprising one or more LiDAR devices, a field-of-view during one or more time periods, wherein the LiDAR system moves along a non-linear path during at least a subset of the one or more time periods. Return signal data obtained during at least the subset is aggregated and fiducial markers represented by the aggregated return signal data are identified. Each of the identified fiducial markers are compared to a respective reference fiducial marker of a plurality of reference fiducial markers. Based on the comparison, miscalibration of an extrinsic parameter associated with a position and/or an orientation of at least one of the LiDAR devices is detected. An action is initiated to remediate the detected miscalibration of the extrinsic parameter.