Invention Grant
- Patent Title: Calibration of detection system to vehicle using a mirror
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Application No.: US16032417Application Date: 2018-07-11
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Publication No.: US10943367B1Publication Date: 2021-03-09
- Inventor: Craig Lewin Robinson , Volker Grabe , Colin Braley , Zachary Morriss , Stephanie McArthur , Andrew Crawford
- Applicant: Waymo LLC
- Applicant Address: US CA Mountain View
- Assignee: Waymo LLC
- Current Assignee: Waymo LLC
- Current Assignee Address: US CA Mountain View
- Agency: Botos Churchill IP Law
- Main IPC: G06T7/80
- IPC: G06T7/80 ; B60R1/12 ; B60W50/00

Abstract:
The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.
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