Lyft, Inc.
LIDAR AND CAMERA ROTATIONAL POSITION CALIBRATION USING MULTIPLE POINT CLOUD COMPARISONS

Abstract:

A method includes capturing, by a plurality of image sensors on an automotive vehicle, image data associated with one or more calibration objects in an environment, and capturing, by a LiDAR sensor, a three-dimensional LiDAR point cloud based on LiDAR data. The method further comprises generating a three-dimensional image point cloud based on the image data and the three-dimensional LiDAR point cloud, mapping a first alignment plane of the three-dimensional image point cloud relative to a second alignment plane of the three-dimensional LiDAR point cloud for each of the calibration objects to determine an angle between the first alignment plane and second alignment plane, and calibrating the LiDAR sensor relative to the image sensors by determining a degree of rotation of the LiDAR sensor to minimize the angle between the first alignment plane and second alignment plane.