US 12,260,593 B2
Extrinsic calibration of multiple vehicle sensors using combined target detectable by multiple vehicle sensors
Adam Cadien, San Francisco, CA (US); Zhonghua Ma, San Francisco, CA (US); Jabeer Ahmed, San Francisco, CA (US); and Nicholas Semansky, San Francisco, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jan. 5, 2023, as Appl. No. 18/093,659.
Application 18/093,659 is a continuation of application No. 16/457,823, filed on Jun. 28, 2019, granted, now 11,557,061.
Prior Publication US 2023/0154047 A1, May 18, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/80 (2017.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01); G01S 7/52 (2006.01); G01S 13/08 (2006.01); G01S 15/08 (2006.01); G01S 17/08 (2006.01); G06T 7/70 (2017.01)
CPC G06T 7/80 (2017.01) [G01S 7/40 (2013.01); G01S 7/497 (2013.01); G01S 7/5205 (2013.01); G01S 13/08 (2013.01); G01S 15/08 (2013.01); G01S 17/08 (2013.01); G06T 7/70 (2017.01)] 7 Claims
OG exemplary drawing
 
1. A system for vehicle sensor calibration, the system comprising:
a memory; and
a processor coupled to the memory, wherein the processor is configured to:
receive a range capture dataset from a range sensor of a vehicle in a calibration environment,
identify, in the range capture dataset, a range-based representation of a sensor target that is located in the calibration environment, wherein the sensor target includes a surface with an aperture, wherein a portion of the calibration environment external to the sensor target is discernable through the aperture from a perspective of the range sensor, wherein the range-based representation of the sensor target includes a range-based representation of the aperture,
generate a transformation to calibrate the range sensor of the vehicle, and calibrate the range sensor of the vehicle using the transformation,
receive a sensor capture dataset from a second sensor of the vehicle, and
identify, in the sensor capture dataset, a representation of the aperture in the surface of the sensor target, wherein, to calibrate the range sensor of the vehicle using the transformation, the processor is configured to perform extrinsic calibration of the range sensor of the vehicle and the second sensor of the vehicle using the transformation.