US 12,296,836 B2
Calibration of sensors in autonomous vehicle applications
Sheng Zhao, Cupertino, CA (US); Antonio Teran Espinoza, Cambridge, MA (US); Volker Grabe, Redwood City, CA (US); and Changchang Wu, Bothell, WA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 15, 2021, as Appl. No. 17/526,514.
Prior Publication US 2023/0150518 A1, May 18, 2023
Int. Cl. B60W 50/00 (2006.01); B60W 60/00 (2020.01); G06F 17/17 (2006.01)
CPC B60W 50/0098 (2013.01) [B60W 60/001 (2020.02); G06F 17/17 (2013.01); B60W 2050/0088 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 16 Claims
OG exemplary drawing
 
1. A system comprising:
a plurality of sensors of a sensing system of an autonomous vehicle (AV), the sensing system configured to collect sensing data during operation of the AV; and
a data processing system, operatively coupled to the sensing system, the data processing system configured to:
based on the collected sensing data, identify a first reference point associated with a first object in an environment of the AV;
determine i) a first estimated location of the first reference point using a first sensing data obtained by a first subset of the plurality of sensors and ii) a second estimated location of the first reference point using a second sensing data obtained by a second subset of the plurality of sensors; and
adjust one or more parameters of at least one sensor of the plurality of sensors based on a loss function that weights differently a radial difference of the first estimated location and the second estimated location and a lateral difference of the first estimated location and the second estimated location.