公开(公告)号：US11959774B1

公开(公告)日：2024-04-16

申请号：US16950687

申请日：2020-11-17

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Damien Dusha ,  Craig Robinson ,  Volker Grabe

IPC: G01C25/00 ,  G01C21/16 ,  G01S7/40 ,  G01S7/497 ,  G06T7/80 ,  G01S13/931 ,  G01S17/931

CPC classification number: G01C25/005 ,  G01C21/1652 ,  G01C21/1656 ,  G01S7/40 ,  G01S7/4972 ,  G06T7/80 ,  G01S13/931 ,  G01S17/931

Abstract: Systems and methods for extrinsic calibration of vehicle-mounted sensors are provided. One example method involves obtaining first sensor data collected by a first sensor and a second sensor while a vehicle is aligned in a first yaw direction. The method also involves obtaining second sensor data collected by the first sensor and the second sensor while the vehicle is aligned in a second yaw direction. The method also involves determining, based on the first sensor data and the second sensor data, (i) first pitch and roll misalignments of the first sensor relative to the vehicle and (ii) second pitch and roll misalignments of the second sensor relative to the first sensor. The method also involves determining third pitch and roll misalignments of the second sensor relative to the vehicle based on (i) the first pitch and roll misalignments and (ii) the second pitch and roll misalignments.

公开(公告)号：US20230150518A1

公开(公告)日：2023-05-18

申请号：US17526514

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Antonio Teran Espinoza ,  Volker Grabe ,  Changchang Wu

IPC: B60W50/00 ,  B60W60/00 ,  G06F17/17

CPC classification number: B60W50/0098 ,  B60W60/001 ,  G06F17/17 ,  B60W2050/0088 ,  B60W2420/42 ,  B60W2420/52

Abstract: The described aspects and implementations enable efficient calibration of a sensing system of an autonomous vehicle (AV). In one implementation, disclosed is a method and a system to perform the method, the system including the sensing system configured to collect sensing data and a data processing system, operatively coupled to the sensing system. The data processing system is configured to identify reference point(s) in an environment of the AV, determine multiple estimated locations of the reference point(s), and adjust parameters of the sensing system based on a loss function representative of differences of the estimated locations.

公开(公告)号：US11977167B2

公开(公告)日：2024-05-07

申请号：US17105141

申请日：2020-11-25

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Nicholas Lloyd Armstrong-Crews ,  Volker Grabe

IPC: H04N23/68 ,  G01S7/481 ,  G01S17/89 ,  G01S17/931 ,  G01S7/51

CPC classification number: G01S17/931 ,  G01S7/4817 ,  G01S17/89 ,  H04N23/689 ,  G01S7/51

Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.

公开(公告)号：US20210208283A1

公开(公告)日：2021-07-08

申请号：US17105141

申请日：2020-11-25

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Nicholas Lloyd Armstrong-Crews ,  Volker Grabe

IPC: G01S17/931 ,  G01S17/89 ,  G01S7/481 ,  H04N5/232

Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.