AUTOMATIC LIDAR CALIBRATION BASED ON PRE-COLLECTED STATIC REFLECTION MAP FOR AUTONOMOUS DRIVING

摘要

To provide an efficient method since a LIDAR device needs periodic calibration.SOLUTION: A set of LIDAR images are received representing the LIDAR point cloud data captured by a LIDAR device of an autonomous driving vehicle (ADV) at different point in times 601. Each of the LIDAR images is transformed or translated from a local coordinate system (e.g., LIDAR coordinate space) to a global coordinate system (e.g., GPS coordinate space) using a coordinate converter configured with a set of parameters 602. A first LIDAR reflection map is generated based on the transformed LIDAR images, for example, by merging the transformed LIDAR images together 603. The coordinate converter is optimized by adjusting one or more parameters of the coordinate converter based on the difference between the first LIDAR reflection map and a second LIDAR reflection map that serves as a reference LIDAR reflection map 604.SELECTED DRAWING: Figure 6