Camera-to-LiDAR calibration and validation

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United States of America Patent

PATENT NO 11940539
APP PUB NO 20210192788A1
SERIAL NO

17124468

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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An automatic calibration and validation pipeline is disclosed to estimate and evaluate the accuracy of extrinsic parameters of a camera-to-LiDAR coordinate transformation. In an embodiment, an automated and unsupervised calibration procedure is employed where the computed rotational and translational parameters (“extrinsic parameters”) of the camera-to-LiDAR coordinate transformation are automatically estimated and validated, and upper bounds on the accuracy of the extrinsic parameters are set. The calibration procedure combines three-dimensional (3D) plane, vector and point correspondences to determine the extrinsic parameters, and the resulting coordinate transformation is validated by analyzing the projection of a filtered point cloud including a validation target in the image space. A single camera image and LiDAR scan (a “single shot”) are used to calibrate and validate the extrinsic parameters. In addition to only requiring a single shot, the complete procedure solely relies on one or more planar calibration targets and simple geometrical validation targets.

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Patent Owner(s)

  • MOTIONAL AD LLC

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Aumiller, Andreas Jianhao Singapore, SG 1 8
Chan, Jun Shern Singapore, SG 4 9
Di, Cicco Maurilio Singapore, SG 10 40
Diederichs, Paul Aurel Graefelfing, DE 1 8
Ruiz, Francisco Alejandro Suarez Singapore, SG 2 8

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