CN111936825B - 传感器校准 - Google Patents

传感器校准 Download PDF

Info

Publication number
CN111936825B
CN111936825B CN201980020771.8A CN201980020771A CN111936825B CN 111936825 B CN111936825 B CN 111936825B CN 201980020771 A CN201980020771 A CN 201980020771A CN 111936825 B CN111936825 B CN 111936825B
Authority
CN
China
Prior art keywords
sensor
data
calibration
determining
entropy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201980020771.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN111936825A (zh
Inventor
P·布莱斯
D·米勒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN111936825A publication Critical patent/CN111936825A/zh
Application granted granted Critical
Publication of CN111936825B publication Critical patent/CN111936825B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Navigation (AREA)
CN201980020771.8A 2018-03-21 2019-03-15 传感器校准 Active CN111936825B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/927,291 2018-03-21
US15/927,291 US10830871B2 (en) 2018-03-21 2018-03-21 Sensor calibration
PCT/US2019/022561 WO2019182909A1 (en) 2018-03-21 2019-03-15 Sensor calibration

Publications (2)

Publication Number Publication Date
CN111936825A CN111936825A (zh) 2020-11-13
CN111936825B true CN111936825B (zh) 2023-09-08

Family

ID=65952213

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980020771.8A Active CN111936825B (zh) 2018-03-21 2019-03-15 传感器校准

Country Status (5)

Country Link
US (2) US10830871B2 (https=)
EP (1) EP3769108B1 (https=)
JP (1) JP7308855B2 (https=)
CN (1) CN111936825B (https=)
WO (1) WO2019182909A1 (https=)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017210112A1 (de) * 2017-06-16 2018-12-20 Robert Bosch Gmbh Verfahren und System zur Durchführung einer Kalibrierung eines Sensors
US10830871B2 (en) 2018-03-21 2020-11-10 Zoox, Inc. Sensor calibration
DE102018205322A1 (de) * 2018-04-10 2019-10-10 Audi Ag Verfahren und Steuervorrichtung zum Erkennen einer Fehlfunktion zumindest eines Umfeldsensors eines Kraftfahrzeugs
US12000951B2 (en) * 2018-06-28 2024-06-04 Plato Systems, Inc. Robust radar-centric perception system
USD922889S1 (en) * 2018-06-29 2021-06-22 Zoox, Inc. Sensor housing
US11391825B2 (en) * 2019-07-02 2022-07-19 Waymo Llc Sensor calibration parameter sensitivity analysis
US11393127B2 (en) * 2019-09-13 2022-07-19 Toyota Research Institute, Inc. 2D to 3D line-based registration with unknown associations
CN110967040B (zh) * 2019-12-17 2021-11-23 北京经纬恒润科技股份有限公司 一种传感器水平偏差角度的识别方法及系统
US11402468B2 (en) 2019-12-30 2022-08-02 Woven Planet North America, Inc. Systems and methods for blind online calibration of radar systems on a vehicle
US11360197B2 (en) * 2020-01-07 2022-06-14 Luminar, Llc Calibration of sensor systems
DE102020202679A1 (de) * 2020-03-03 2021-09-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Kalibrieren eines Sensorsystems eines beweglichen Objekts
US11619708B2 (en) 2020-07-28 2023-04-04 Trackman A/S System and method for inter-sensor calibration
CN112255621B (zh) * 2020-10-09 2022-08-30 中国第一汽车股份有限公司 一种车辆传感器的标定方法、装置、电子设备及存储介质
KR20230118821A (ko) * 2020-12-10 2023-08-14 프레코 일렉트로닉스, 엘엘씨 관성 측정 장치(imu)를 갖는 차량 객체 검출 레이더의 보정 및 동작
CN115248428B (zh) * 2021-04-28 2023-12-22 北京航迹科技有限公司 激光雷达的标定、扫描方法、装置、电子设备及存储介质
US12189024B1 (en) 2021-05-03 2025-01-07 Waymo Llc Methods and systems for real-time automotive radar sensor validation
EP4116873A1 (en) * 2021-07-09 2023-01-11 Aptiv Technologies Limited Occupancy grid calibration
KR102656646B1 (ko) * 2021-08-26 2024-04-12 (주)서울로보틱스 센싱 장치의 설치 이상을 감지하는 방법 및 이를 수행하는 센싱 장치
CN113837385B (zh) * 2021-09-06 2024-02-09 东软睿驰汽车技术（沈阳）有限公司 一种数据处理方法、装置、设备、介质及产品
US20230182754A1 (en) * 2021-12-13 2023-06-15 Gm Cruise Holdings Llc Determining an anomalous event from a scenario and an action of interest
CN114323104A (zh) * 2021-12-23 2022-04-12 沈阳环境科学研究院 一种车辆环境检测传感器在线校准系统
US12323574B2 (en) * 2022-05-09 2025-06-03 Zoox, Inc. Sensor calibration validation
CN114881168B (zh) * 2022-05-25 2023-04-07 北京市生态环境监测中心 光离子化检测仪校准方法、系统、电子设备以及存储介质
US12447992B2 (en) * 2022-07-07 2025-10-21 Gm Cruise Holdings Llc Multiple sensor calibration in autonomous vehicles performed in an undefined environment
US12522223B2 (en) * 2022-07-07 2026-01-13 Gm Cruise Holdings Llc Map-assisted target detection for sensor calibration
US12423866B2 (en) * 2022-08-23 2025-09-23 Motional Ad Llc Maintaining intrinsic calibration of cameras with in-body image stabilization systems
US20240111295A1 (en) * 2022-09-28 2024-04-04 Intel Corporation Intelligent and adaptive multi-modal real-time simultaneous localization and mapping based on light detection and ranging and camera or image sensors
US20240217540A1 (en) * 2023-01-04 2024-07-04 Gm Cruise Holdings Llc Mobile test station for evaluating autonomous vehicle sensors in varying weather conditions
US12586245B2 (en) * 2023-03-14 2026-03-24 GM Global Technology Operations LLC Robust lidar-to-camera sensor alignment
SE2350556A1 (en) * 2023-05-08 2024-11-09 Scania Cv Ab A method for preparing an extrinsic calibration procedure
JP2024175372A (ja) * 2023-06-06 2024-12-18 株式会社Pfu 画像処理装置、画像処理システム、画像処理方法及び制御プログラム
CN116576905B (zh) * 2023-07-13 2023-09-29 深圳天溯计量检测股份有限公司 一种温湿度传感器的批量自动校准装置
US12578429B1 (en) * 2023-07-31 2026-03-17 Zoox, Inc. Radar calibration validation and/or recalibration
DE102023122265A1 (de) 2023-08-21 2025-02-27 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Anomalieerkennung und entsprechendes Fahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102609953A (zh) * 2010-12-02 2012-07-25 通用汽车环球科技运作有限责任公司 摄影机和距离传感器数据的多物体外观增强融合
CN105678076A (zh) * 2016-01-07 2016-06-15 福州华鹰重工机械有限公司 点云测量数据质量评估优化的方法及装置
CN105738915A (zh) * 2016-01-07 2016-07-06 福州华鹰重工机械有限公司 三维雷达测量方法及装置
CN106662638A (zh) * 2014-08-15 2017-05-10 罗伯特·博世有限公司 汽车雷达对准

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7966301B2 (en) * 2003-05-09 2011-06-21 Planeteye Company Ulc System and method for employing a grid index for location and precision encoding
JP5055169B2 (ja) * 2008-03-05 2012-10-24 本田技研工業株式会社 車両用走行安全装置
US9472097B2 (en) * 2010-11-15 2016-10-18 Image Sensing Systems, Inc. Roadway sensing systems
CN102221688B (zh) * 2011-03-24 2013-04-24 中国船舶重工集团公司第七○九研究所 一种雷达系统误差估计方法
GB201116961D0 (en) * 2011-09-30 2011-11-16 Bae Systems Plc Fast calibration for lidars
US9157743B2 (en) 2012-07-18 2015-10-13 Honeywell International Inc. Systems and methods for correlating reduced evidence grids
JP6168784B2 (ja) * 2013-02-08 2017-07-26 古河電気工業株式会社 周辺監視システム及び周辺監視システムの軸ずれ検知方法
CA2970985C (en) * 2014-12-18 2021-10-12 Innerspace Technology Inc. Wayfinding system for interior spaces using an auto-generated navigational map
WO2016100816A1 (en) * 2014-12-19 2016-06-23 United Technologies Corporation Sensor data fusion for prognostics and health monitoring
EP3248029A4 (en) * 2015-01-19 2018-10-03 The Regents of the University of Michigan Visual localization within lidar maps
US9599706B2 (en) * 2015-04-06 2017-03-21 GM Global Technology Operations LLC Fusion method for cross traffic application using radars and camera
US10705184B2 (en) * 2016-02-29 2020-07-07 Hitachi, Ltd. Sensor calibration system
JP6239664B2 (ja) * 2016-03-16 2017-11-29 株式会社デンソーアイティーラボラトリ 周辺環境推定装置及び周辺環境推定方法
JP6747038B2 (ja) * 2016-04-27 2020-08-26 富士通株式会社 情報処理装置、キャリブレーション方法、およびキャリブレーションプログラム
US11024044B2 (en) * 2016-09-26 2021-06-01 Digitalglobe, Inc. Techniques for image co-registration
US10775489B2 (en) * 2016-12-15 2020-09-15 Texas Instruments Incorporated Maximum measurable velocity in frequency modulated continuous wave (FMCW) radar
CN106960468B (zh) * 2017-04-12 2019-07-09 武汉理工大学 一种三维激光扫描点云精度评价方法
US10884103B2 (en) * 2017-04-17 2021-01-05 Magna Electronics Inc. Calibration system for vehicle radar system
US10551493B2 (en) * 2017-08-18 2020-02-04 GM Global Technology Operations LLC Widely spaced radar nodes with unambiguous beam pattern
US10830871B2 (en) 2018-03-21 2020-11-10 Zoox, Inc. Sensor calibration

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102609953A (zh) * 2010-12-02 2012-07-25 通用汽车环球科技运作有限责任公司 摄影机和距离传感器数据的多物体外观增强融合
CN106662638A (zh) * 2014-08-15 2017-05-10 罗伯特·博世有限公司 汽车雷达对准
CN105678076A (zh) * 2016-01-07 2016-06-15 福州华鹰重工机械有限公司 点云测量数据质量评估优化的方法及装置
CN105738915A (zh) * 2016-01-07 2016-07-06 福州华鹰重工机械有限公司 三维雷达测量方法及装置

Also Published As

Publication number Publication date
JP2021518553A (ja) 2021-08-02
EP3769108A1 (en) 2021-01-27
CN111936825A (zh) 2020-11-13
US20190293756A1 (en) 2019-09-26
US11656329B2 (en) 2023-05-23
JP7308855B2 (ja) 2023-07-14
US10830871B2 (en) 2020-11-10
EP3769108B1 (en) 2025-12-24
WO2019182909A1 (en) 2019-09-26
US20210055380A1 (en) 2021-02-25

Similar Documents

Publication Publication Date Title
CN111936825B (zh) 传感器校准
US11898873B2 (en) Calibrating multiple inertial measurement units
US11748909B2 (en) Image-based depth data and localization
US11458912B2 (en) Sensor validation using semantic segmentation information
US10916035B1 (en) Camera calibration using dense depth maps
US11623494B1 (en) Sensor calibration and verification using induced motion
US11555903B1 (en) Sensor calibration using dense depth maps
JP7350013B2 (ja) マスクを使用したデータセグメンテーション
US11460568B2 (en) Estimating in-plane velocity from an arbitrary radar return
US10937178B1 (en) Image-based depth data and bounding boxes
US10984543B1 (en) Image-based depth data and relative depth data
US10830894B2 (en) Intensity and depth measurements in time-of-flight sensors
US12084060B2 (en) Associating image data and depth data for depth determination
US10972638B1 (en) Glare correction in sensors
US11680824B1 (en) Inertial measurement unit fault detection
US11543263B1 (en) Map distortion determination
JP2021530049A (ja) センサ較正
JP2023505426A (ja) センサデータアラインメントの補正及び環境マッピング関連アプリケーション
US12323574B2 (en) Sensor calibration validation
US11897486B1 (en) Sensor consensus monitor
CN118354949A (zh) 基于中心的检测和跟踪
US11561292B1 (en) Active power control of sensors
US12422532B1 (en) Sensor calibration
US12174299B1 (en) Glare detection in sensor data
US12380581B1 (en) Localized depth disambiguation for time-of-flight data

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant