US 10,891,747 B1
Sensor calibration system for autonomous driving vehicles
Tae Eun Choe, Sunnyvale, CA (US); Yuliang Guo, Sunnyvale, CA (US); Guang Chen, Sunnyvale, CA (US); Ka Wai Tsoi, Sunnyvale, CA (US); and Weide Zhang, Sunnyvale, CA (US)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA LLC, Sunnyvale, CA (US)
Filed on Jun. 28, 2019, as Appl. No. 16/457,775.
Int. Cl. G06T 7/536 (2017.01); G06T 7/80 (2017.01); G06K 9/00 (2006.01); G06T 7/55 (2017.01); G06T 11/00 (2006.01); G05D 1/02 (2020.01)
CPC G06T 7/536 (2017.01) [G05D 1/0231 (2013.01); G05D 1/0257 (2013.01); G06K 9/00798 (2013.01); G06T 7/55 (2017.01); G06T 7/80 (2017.01); G06T 11/00 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30256 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for calibrating a sensor of an autonomous driving vehicle (ADV), the method comprising:
determining a horizon line representing a vanishing point from a view point of the ADV based on a pitch angle of a camera that captured a first image representing a two-dimensional (2D) view from the viewpoint of the ADV;
displaying, on a first display area of a display device, the horizon line superimposed on a location within the first image that is based on a setting of the camera;
displaying, on a second display area of the display device, a second image that is a three-dimensional (3D) view based on the first image and 3D information obtained from one or more other sensors of the ADV;
determining one or more lane lines based on the first image based on a perception process performed on the first image and projecting the one or more lane lines onto the second image;
in response to a first input signal received from an input device,
updating a position of the horizon line superimposed on the first image, based on the first input signal, and
updating a position of at least one of the lane lines projected onto the second image, based on the updated position of the horizon line superimposed on the first image; and
determining a first calibration factor for calibrating the pitch angle of the camera based on a difference between the horizon line and the updated horizon line in view of the one or more lane lines and the updated position of the at least one of the one or more lane lines.