Abstract: An example method for performing multi-sensor collaborative calibration on a vehicle includes obtaining, from at least two sensors located on a vehicle, sensor data items of an area that comprises a plurality of calibration objects; determining, from the sensor data items, attributes of the plurality of calibration objects; determining, for the at least two sensors, an initial matrix that describes a first set of extrinsic parameters between the at least two sensors based at least on the attributes of the plurality of calibration objects; determining an updated matrix that describes a second set of extrinsic parameters between the at least two sensors based at least on the initial matrix and a location of at least one calibration object; and performing autonomous operation of the vehicle using the second set of extrinsic parameters and additional sensor data received from the at least two sensors.

Abstract: One aim of autonomous vehicle (AV) technologies is to provide vehicles that can safely navigate towards a destination with limited or no driver assistance. An AV may include multiple cameras mounted on it for several purposes including security purposes, driving aid, or facilitating autonomous driving. Systems, apparatus, and methods are provided to calibrate intrinsic parameters of AV cameras. AV cameras and calibration targets are moved in a systematic, predictable, and repeatable manner for calibration of camera intrinsic parameters.

Abstract: Technique for performing multi-sensor collaborative calibration on a vehicle is disclosed. A method includes obtaining, from at least two sensors located on a vehicle, sensor data items of an area that comprises a plurality of calibration objects; determining, from the sensor data items, attributes of the plurality of calibration objects; determining, for the at least two sensors, an initial matrix that describes a first set of extrinsic parameters between the at least two sensors based at least on the attributes of the plurality of calibration objects; determining an updated matrix that describes a second set of extrinsic parameters between the at least two sensors based at least on the initial matrix and a location of at least one calibration object; and performing autonomous operation of the vehicle using the second set of extrinsic parameters and additional sensor data received from the at least two sensors.

Abstract: A system for generating a ground truth dataset for motion planning is disclosed. The system includes: a collecting module configured to collect LiDAR scans; a detecting module configured to detect two pose estimates that are closest to LiDAR scan accusation time; a determining module configured to determine LiDAR's poses based on an interpolation; and a transforming module configured to transform LiDAR raw scans into undistorted LiDAR scans.

Abstract: A system for generating a ground truth dataset for motion planning is disclosed. The system includes: a collecting module configured to collect LiDAR scans; a detecting module configured to detect two pose estimates that are closest to LiDAR scan accusation time; a determining module configured to determine LiDAR's poses based on an interpolation; and a transforming module configured to transform LiDAR raw scans into undistorted LiDAR scans.