Abstract: A method includes receiving detection data and Inertial Measurement Unit (IMU) data from a vehicle as the vehicle traverses a testing lane, wherein the detection data corresponds to lidar detections, camera detections, and radar detections, by one or more sensors of the vehicle, and the IMU data corresponds to a determination of one or more motion constraints from the one or more sensors and an IMU and a determination of one or more constraints between the IMU and the vehicle to generate. A plurality of targets are arranged with respect to the testing lane and have a plurality of calibration elements configured to allow detection by the one or more sensors of the vehicle. The method further includes processing the received detection data and IMU data using a calibration algorithm, and generating one or more calibration parameters for the one or more sensors of the vehicle based on the processing.

Abstract: Devices, systems, and methods are provided for optical device validation. For example, a system may comprise an optical device operable to emit or absorb light, wherein the optical device comprises a lens having an outer surface. The system may comprise a camera positioned in a line of sight of the optical device, wherein the camera is operable to capture one or more images of the optical device. The system may comprise a computer system in communication with to the camera and operable to calculate a validation score for a captured image of the one or more images and to validate the optical device based on a validation state generated using the calculated validation score.