| CPC H04N 17/002 (2013.01) [G06T 7/80 (2017.01); B60W 2050/0215 (2013.01); B60W 2420/403 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer readable media storing computer executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving current extrinsics of a camera relative to a lidar associated with an autonomous vehicle, the current extrinsics comprising a current extrinsic parameter associated with one or more of a roll, pitch, or yaw between the camera and the lidar;
determining a set of perturbed extrinsics, a perturbed extrinsic of the set of perturbed extrinsics having a perturbed extrinsic parameter which differs from the current extrinsic parameter by a multiple of a step size and less than or equal to a maximum difference;
determining a current cost based on an image from the camera, lidar data from the lidar, and the current extrinsics;
determining a set of costs associated with the set of perturbed extrinsics based on the image, the lidar data, and the set of perturbed extrinsics;
determining, based at least in part on the current cost and the set of costs, a local maxima score for the current extrinsics;
receiving, as a distribution of calibrated extrinsics, a kernel density estimation distribution of a set of calibrated extrinsics, a calibrated extrinsic of the set of calibrated extrinsics having a local maxima score less than a local maxima score threshold;
determining a probability that the camera is miscalibrated based on the local maxima score for the current extrinsics and the distribution of calibrated extrinsics; and
based at least in part on determining that the probability that the camera is miscalibrated is below a threshold, operating the autonomous vehicle based at least in part on the current extrinsics.
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