US 12,221,123 B2
Integrated fiducial marker for simultaneously calibrating sensors of different types
Huan Yang Chang, Santa Clara, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on May 1, 2023, as Appl. No. 18/141,864.
Application 18/141,864 is a continuation of application No. 16/847,847, filed on Apr. 14, 2020, granted, now 11,673,567.
Prior Publication US 2023/0264702 A1, Aug. 24, 2023
Int. Cl. G06T 7/80 (2017.01); B60W 50/06 (2006.01); G01S 19/51 (2010.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01)
CPC B60W 50/06 (2013.01) [G01S 19/51 (2013.01); G06T 7/80 (2017.01); G01S 7/40 (2013.01); G01S 7/497 (2013.01); G06T 2207/30204 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving, by a computing system, a GPS signal associated with a marker;
determining, by the computing system, a location of the marker based on the GPS signal associated with the marker;
calibrating, by the computing system, a visual based sensor based on a visual identification of a feature point on the marker and the location of the marker; and
calibrating, by the computing system, a depth based sensor based on a depth measurement of the feature point on the marker,
wherein the calibrating of the visual based sensor and the calibrating of the depth based sensor are i) performed while a vehicle associated with the computing system is in motion and ii) initiated based on a distance between the vehicle and the marker, wherein the distance between the vehicle and the marker is determined based at least in part on the GPS signal associated with the marker.