CPC G06T 7/37 (2017.01) [B60R 1/22 (2022.01); G01S 17/87 (2013.01); G01S 17/89 (2013.01); G06F 18/2321 (2023.01); G06F 18/251 (2023.01); G06V 20/58 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
1. A method for generating alignment parameters for processing data associated with a vehicle, the method comprising:
receiving image data associated with an environment of the vehicle;
receiving lidar data associated with the environment of the vehicle;
processing, by a processor, the image data to determine data points associated with at least one road pole identified within image data;
processing, by the processor, the lidar data to determine data points associated with at least one road pole identified within the lidar data;
selectively storing the data points as a set of data point pairs in a data buffer;
iteratively processing, by the processor, the set of data point pairs with a plurality of perturbations to determine a plurality of transformation matrices, wherein the iteratively processing results in each of the plurality of transformation matrices having an associated score;
selecting, by the processor, an optimal transformation matrix with a threshold associated score from the plurality of transformation matrices;
generating, by the processor, alignment data based on the optimal transformation matrix; and
processing the data associated with the vehicle based on the alignment parameters.
|