US 12,117,569 B2
Dynamic calibration of lidar sensors
Dongyi Liao, Mountain View, CA (US); Zukai Wang, San Jose, CA (US); Mark A. McCord, Los Gatos, CA (US); and Chao Gu, Ottawa (CA)
Assigned to Cepton Technologies, Inc., San Jose, CA (US)
Filed by Cepton Technologies, Inc., San Jose, CA (US)
Filed on Oct. 13, 2020, as Appl. No. 17/069,733.
Claims priority of provisional application 62/915,563, filed on Oct. 15, 2019.
Prior Publication US 2021/0109205 A1, Apr. 15, 2021
Int. Cl. G01S 7/497 (2006.01); G01B 11/06 (2006.01); G01S 7/48 (2006.01); G01S 7/481 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); G06T 7/80 (2017.01); G06T 19/20 (2011.01); G05D 1/00 (2006.01); G05D 1/249 (2024.01)
CPC G01S 7/4972 (2013.01) [G01B 11/0608 (2013.01); G01S 7/4808 (2013.01); G01S 7/481 (2013.01); G01S 7/4811 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); G06T 7/80 (2017.01); G06T 19/20 (2013.01); G05D 1/0231 (2013.01); G05D 1/249 (2024.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01); G06T 2219/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of calibrating a LiDAR sensor mounted on a vehicle, the method comprising:
storing a reference three-dimensional image acquired by the LiDAR sensor while the LiDAR sensor is in an expected alignment with respect to the vehicle, the reference three-dimensional image including a first image of a fixed feature on the vehicle, wherein:
the LiDAR sensor is positioned behind a windshield of the vehicle; and
the fixed feature comprises a mask attached to an area of the windshield that is directly in front of the LiDAR sensor, wherein the mask is configured to block light in an operating wavelength of the LiDAR sensor and is shaped to block a portion of a field of view of the LiDAR sensor;
acquiring, using the LiDAR sensor, a three-dimensional image including a second image of the fixed feature; and
determining a deviation from the expected alignment of the LiDAR sensor with respect to the vehicle by comparing the second image of the fixed feature in the three-dimensional image to the first image of the fixed feature in the reference three-dimensional image.