US 12,254,647 B2
Secure camera based inertial measurement unit calibration for stationary systems
Christopher David Ruppel, Carmel, IN (US); and Bradley Scott Coon, Russiaville, IN (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Apr. 22, 2022, as Appl. No. 17/660,242.
Claims priority of provisional application 63/229,177, filed on Aug. 4, 2021.
Prior Publication US 2023/0039129 A1, Feb. 9, 2023
Int. Cl. G06T 7/70 (2017.01); G01C 25/00 (2006.01); G06T 7/00 (2017.01); B60W 50/02 (2012.01)
CPC G06T 7/70 (2017.01) [G01C 25/005 (2013.01); G06T 7/97 (2017.01); B60W 50/0205 (2013.01); B60W 2050/0215 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining a relative separation height between pairs of different cameras of a stationary vehicle;
selecting, from among the pairs of different cameras of the stationary vehicle, a first camera and a second camera to use for calibrating an inertial measurement unit (IMU) of the stationary vehicle based on whether the relative separation height satisfies a height threshold;
receiving, from the first camera an image of a first calibration target within a first camera field of view of the first camera;
receiving, from the second camera an image of a second calibration target within a second camera field of view of the second camera, the second camera field of view being opposite the first camera field of view;
determining, based on encoded data in the image of the first calibration target and encoded data in the image of the second calibration target, whether the first and second calibration targets are valid for calibrating the IMU of the stationary vehicle;
responsive to determining that the first and second calibration targets are valid for calibrating the IMU, establishing, based on the image of the first calibration target and the image of the second calibration target, a vehicle coordinate system with respect to ground-truth conditions outside the vehicle; and
outputting information to enable the stationary vehicle to compensate for IMU mounting errors in the vehicle by calibrating the IMU to align IMU data output from the IMU with the vehicle coordinate system.