US 12,085,678 B1
Methods for localizing light detection and ranging (lidar) calibration targets
Gil Shotan, Mountain View, CA (US); Colin Braley, Mountain View, CA (US); Volker Grabe, Mountain View, CA (US); and Volodymyr Ivanchenko, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Dec. 30, 2020, as Appl. No. 17/138,180.
Int. Cl. G01S 7/497 (2006.01); G01S 7/481 (2006.01); G01S 17/894 (2020.01); G05D 1/00 (2024.01); G08G 1/00 (2006.01); B60W 50/06 (2006.01); B60W 60/00 (2020.01)
CPC G01S 7/497 (2013.01) [G01S 7/4817 (2013.01); G01S 17/894 (2020.01); G05D 1/0291 (2013.01); G08G 1/22 (2013.01); B60W 50/06 (2013.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating a point cloud of a region based on data from a light detection and ranging (lidar) device, wherein the point cloud includes points representing at least a portion of a calibration target;
determining a presumed location of the calibration target;
identifying, within the point cloud, a location of a first edge of the calibration target;
performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location;
revising the presumed location of the calibration target based on at least the comparison; and
transmitting the revised presumed location of the calibration target to a fleet management server.