US 12,067,786 B2
Systems and methods for validating sensor calibration
Mauro Aguiar, Salem, MA (US); Noam Weinstein, Cambridge, MA (US); Eric Wolff, Cambridge, MA (US); Matthias Sapuan, Singapore (SG); Hsun-Hsien Chang, Brookline, MA (US); Philipp Robbel, Cambridge, MA (US); Maurilio Di Cicco, Singapore (SG); Guchan Ozbilgin, Pittsburgh, PA (US); Bishwamoy Sinha Roy, Pittsburgh, PA (US); Yifan Yang, Pittsburgh, PA (US); Akshay Bhagat, Squirrel Hill, PA (US); David Butterworth, Pittsburgh, PA (US); Andrew J. Eick, Pittsburgh, PA (US); Alok Sharma, Pittsburgh, PA (US); and Junqing Wei, Bridgeville, PA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Aug. 16, 2022, as Appl. No. 17/888,563.
Application 17/888,563 is a continuation of application No. 16/695,291, filed on Nov. 26, 2019, granted, now 11,443,524.
Claims priority of provisional application 62/777,637, filed on Dec. 10, 2018.
Prior Publication US 2022/0392232 A1, Dec. 8, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/58 (2022.01); F21V 8/00 (2006.01); G05D 1/00 (2024.01); G06T 7/80 (2017.01)
CPC G06V 20/58 (2022.01) [G02B 6/0055 (2013.01); G05D 1/0088 (2013.01); G06T 7/80 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
at least one light detection and ranging sensor configured to detect a distance to at least one location associated with a substantially reflective portion of at least one object;
at least one imaging sensor configured to detect light intensity values associated with the substantially reflective portion of the at least one location of the at least one object;
a computer-readable medium storing computer-executable instructions; and
at least one processor communicatively coupled to the at least one light detection and ranging sensor and the at least one imaging sensor and configured to execute the computer-executable instructions stored on the computer-readable medium, wherein when the at least one processor executes the instructions, the at least one processor carries out operations to:
receive sensor data associated with the detected distance to the at least one location;
generate a first predicted aggregate location associated with the substantially reflective portion based on the sensor data associated with the detected distance to the at least one location,
receive sensor data associated with the detected intensity values of the at least one location,
generate a second predicted aggregate location associated with the reflective portion based on the sensor data associated with the detected intensity values of the at least one location; and
determine an alignment error value based on the first predicted aggregate location and the second predicted aggregate location.