Pattern-Based Camera–Lidar Calibration for Unsynchronized Sensors

The patent applies preliminary action by using a pre-designed calibration board with known geometric patterns and dimensions. The calibration board is prepared in advance with specific marker patterns that enable automatic feature detection. This pre-prepared reference structure eliminates the need for complex real-time calculations during calibration, significantly reducing calibration time while maintaining accuracy.

The calibration board serves as an intermediary object between the camera and lidar sensors. It provides a common reference framework that mediates the calibration process by offering known geometric features that can be detected by both sensors. This intermediary reference eliminates the need for direct complex coordination between sensors, simplifying the calibration operations.

The calibration board enables self-service calibration by providing automatic feature detection and geometric relationship computation. The system automatically detects features on the calibration board from both camera and lidar data, computes the geometric relationships, and performs calibration without requiring manual intervention or complex synchronized operations. This self-service approach maintains installation flexibility while reducing calibration complexity.

The patent replaces complex mechanical synchronization systems with a computational geometry-based approach. Instead of requiring physical synchronization mechanisms or precise mechanical alignment, the system uses geometric pattern recognition and mathematical computations to establish relationships between sensors. This substitution maintains installation flexibility while dramatically reducing system complexity.