| CPC B60W 60/0015 (2020.02) [G06V 20/584 (2022.01); B60W 2420/403 (2013.01)] | 15 Claims |
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1. A method for performing calibration checks for traffic signal cameras of autonomous vehicles (AVs), the method comprising:
obtaining an image using a traffic signal camera of an AV;
marking a location of a traffic signal in the image with a bounding box;
making a determination that a light source corresponding to the traffic signal is not within the bounding box;
performing an alternate reason check to determine whether an alternate reason exists for the light source to not be within the bounding box;
generating an indication that the traffic signal camera is miscalibrated when the alternate reason does not exist, wherein the image is underexposed and comprises at least four light sources;
obtaining a second image using a second traffic signal camera of the AV, wherein the second image also includes the at least four light sources;
performing a homography computation using the image and the second image to obtain a calibration value comprising rotation information and translation information between the traffic signal camera and the second traffic signal camera;
performing a comparison of the calibration value the calibration value and an expected calibration value for the AV; and
performing a calibration action based on the comparison, wherein the calibration action comprises causing the AV to exit a fully autonomous mode when the comparison yields a difference between the calibration value and the expected calibration value.
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