| CPC G01S 17/89 (2013.01) [G06T 3/14 (2024.01); G06T 7/521 (2017.01); G06T 7/80 (2017.01); G06V 10/24 (2022.01); G06V 10/80 (2022.01); G06V 20/588 (2022.01); H04N 23/00 (2023.01); G06T 2207/30204 (2013.01); G06T 2207/30256 (2013.01); G06V 10/62 (2022.01)] | 20 Claims |
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1. A method of estimating parameters for vehicle operation, comprising:
obtaining, from each of at least two sensors located on a vehicle, a sensor data item of a segment of a road comprising a lane marker, wherein point cloud data (PCD) of the segment of the road that comprises the lane marker is obtained from a Light Detection and Ranging (LiDAR) sensor located on the vehicle, wherein the at least two sensors include the LiDAR sensor, and wherein the sensor data item is obtained from each of the at least two sensors as the vehicle is driven on the road;
determining, from each sensor data item, a location information of the lane marker comprising pixel locations of corners of the lane marker;
deriving, for each corner of the lane marker, a first distance between a pixel location of a corner of the lane marker and previously stored 3D world coordinates of the corner of the lane marker;
deriving, for each corner of the lane marker, a second distance between 3D world coordinates of the corner of the lane marker calculated based on a coordinate system of the LiDAR sensor and the previously stored 3D world coordinates of the corner of the lane marker; and
estimating extrinsic parameters for the at least two sensors based on the first distance and the second distance, respectively.
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