3D Sensor Carrier Calibration for Non-Overlapping Fields of View
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Solution Overview
Problem
Existing sensor calibration methods for vehicles are time-consuming and expensive, and they are only suitable for calibrating sensors with overlapping fields of view, making them inefficient for non-overlapping FoVs.
Innovation Solution
A method and assembly using a sensor carrier with elements arranged in a specified three-dimensional pattern, allowing sensors to be calibrated without overlapping FoVs by identifying elements through their unique positions and distances, using Delaunay triangulation for neighbor identification, and performing calibration based on known three-dimensional positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If moving individual calibration elements around a vehicle using robots, then all sensors can be calibrated, but the process becomes time-consuming and expensive
Solution Approach 1:
Instead of moving calibration elements around the vehicle, the patent inverts the approach by making the calibration elements stationary in a fixed three-dimensional pattern and moving the vehicle through them. This reversal eliminates the need for complex robotic manipulation while achieving complete sensor calibration.
Solution Approach 2:
The patent uses multiple stationary calibration elements that create virtual copies of calibration targets at different spatial positions. These elements serve as fixed reference points that simulate the effect of moving a single calibration element throughout the vehicle's sensor coverage area.
2Measurement precision
If using known calibration methods with moving platforms, then sensor calibration is achieved, but the methods are only suitable for overlapping fields of view
Solution Approach 1:
The patent transitions from two-dimensional calibration patterns to a three-dimensional arrangement of calibration elements. This spatial extension allows sensors with non-overlapping fields of view to each capture a unique subset of the calibration elements, enabling calibration without requiring FoV overlap.
Solution Approach 2:
The calibration space is segmented into multiple regions, with different subsets of calibration elements visible to different sensors. Each sensor calibrates using only the elements within its field of view, eliminating the need for overlapping FoVs while maintaining calibration accuracy.
3Adaptability or versatility
If arranging multiple calibration elements in a three-dimensional pattern, then non-overlapping FoV calibration becomes possible, but the device complexity increases
Solution Approach 1:
The stationary assembly of calibration elements serves multiple functions simultaneously: it provides calibration targets for sensors with overlapping fields of view, for sensors with non-overlapping fields of view, and for various sensor types. This multi-functionality justifies the increased structural complexity.
Data Source
AI summary
The embodiments relate to an assembly for calibrating one or more sensors, of a sensor carrier consisting of a plurality of elements which are arranged at specified three-dimensional positions in a specified pattern, wherein the three-dimensional positions are known a priori, wherein each element can be uniquely identified, wherein the elements are arranged at a specified three-dimensional distance to one another, and wherein the distances are known from the three-dimensional positions of the elements which are known a priori.