One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image
One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.
대표청구항▼
1. A method comprising: obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device, wherein the LIDAR device includes a transmitter comprising one or more light sources and a receiver comprising one or more light detectors, and
1. A method comprising: obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device, wherein the LIDAR device includes a transmitter comprising one or more light sources and a receiver comprising one or more light detectors, and wherein obtaining the plurality of images comprises: obtaining a first image while a first aperture is interposed between the camera and the LIDAR device at a first position relative to the camera, andobtaining a second image while a second aperture is interposed between the camera and the LIDAR device at a second position relative to the camera; andbased on the plurality of images, determining one or more alignment offsets between the transmitter and the receiver in the LIDAR device. 2. The method of claim 1, wherein the first image is indicative of first detector positions of the one or more light detectors, wherein the second image is indicative of second detector positions of the one or more light detectors, the method further comprising: comparing the first detector positions to the second detector positions, wherein determining the one or more alignment offsets is based on the comparison. 3. The method of claim 2, wherein comparing the first detector positions to the second detector positions comprises: comparing locations of one or more image pixels associated with a given light detector in the first image to locations of one or more corresponding image pixels associated with the given light detector in the second image. 4. The method of claim 1, further comprising: causing an auxiliary light source to illuminate the receiver with light having a source wavelength of light emitted by the transmitter, wherein obtaining the first image is while the receiver is illuminated by the auxiliary light source, and wherein obtaining the second image is while the receiver is illuminated by the auxiliary light source. 5. The method of claim 1, wherein obtaining the first image is while the one or more light sources are not emitting light, and wherein obtaining the second image is while the one or more light sources are not emitting light. 6. The method of claim 1, wherein obtaining the plurality of images further comprises obtaining a third image while the one or more light sources are emitting light. 7. The method of claim 6, wherein the third image is indicative of light source positions of the one or more light sources. 8. The method of claim 7, wherein determining the one or more alignment offsets is based on a comparison of: first detector positions of the one or more light detectors indicated by the first image, second detector positions of the one or more light detectors indicated by the second image, and the light source positions indicated by the third image. 9. The method of claim 1, further comprising: causing an actuator to position at least one filter of a plurality of light filters, wherein a first light filter of the plurality includes a first region that corresponds to the first aperture, wherein a second light filter of the plurality includes a second region that corresponds to the second aperture. 10. The method of claim 9, wherein the first region has light transmission characteristics that differ from given light transmission characteristics of other adjacent regions of the first light filter. 11. The method of claim 9, wherein the first region comprises a cavity in the first light filter, and wherein the second region comprises a cavity in the second light filter. 12. The method of claim 9, wherein causing the actuator to position the at least one light filter of the plurality of light filters comprises: prior to obtaining the first image, causing the actuator to arrange the plurality of light filters according to a first configuration associated with the first light filter being interposed between the camera and the LIDAR device; andprior to obtaining the second image, causing the actuator to arrange the plurality of light filters according to a second configuration associated with the second light filter being interposed between the camera and the LIDAR device. 13. The method of claim 9, wherein the plurality of light filters are mounted to a rotatable structure, and wherein causing the actuator to position at least one light filter of the plurality of light filters comprises causing the actuator to rotate the rotatable structure about an axis. 14. The method of claim 1, wherein the one or more light detectors comprises one or more avalanche photodiodes (APDs), the method further comprising: while obtaining the first image, causing the one or more APDs to operate according to a given voltage bias configuration that causes the one or more APDs to emit light. 15. The method of claim 1, further comprising providing, via a display, an indication of the one or more alignment offsets. 16. The method of claim 1, further comprising: based on the one or more determined alignment offsets, causing an adjustment of a mounting position of at least one of the transmitter or the receiver in the LIDAR device. 17. The method of claim 1, further comprising: comparing the plurality of images, wherein determining the one or more alignment offsets is based on the comparison. 18. A system comprising: a platform that supports a light detection and ranging (LIDAR) device, wherein the LIDAR device includes a transmitter and a receiver, wherein the transmitter includes one or more light sources, and wherein the receiver includes one or more light detectors;a camera located at a given position relative to the LIDAR device; anda controller that: obtains a plurality of images using the camera, wherein obtaining the plurality of images comprises: obtaining a first image while a first aperture is interposed between the camera and the LIDAR device at a first position relative to the camera, and obtaining a second image while a second aperture is interposed between the camera and the LIDAR device at a second position relative to the camera, andbased on the plurality of images, determines one or more alignment offsets between the transmitter and the receiver in the LIDAR device. 19. The system of claim 18, further comprising: a plurality of light filters including a first light filter and a second light filter, wherein the first light filter includes a first region that corresponds to the first aperture, and wherein the second light filter includes a second region that corresponds to the second aperture. 20. The system of claim 19, further comprising: a rotatable structure that supports the plurality of light filters in a given arrangement relative to one another; andan actuator that rotates the rotatable structure about an axis.
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이 특허에 인용된 특허 (6)
Schwindt, Oliver Frank, Alignment system and method for vehicle-mounted devices.
Dimsdale, Jerry; Lewis, Andrew; Chen, William, Method and apparatus for high resolution 3D imaging as a function of camera position, camera trajectory and range.
Earhart, Ronald P.; Craig, Rex M.; Grund, Christian J.; Staple, Bevan; Weimer, Carl S., Systems and methods of scene and action capture using imaging system incorporating 3D LIDAR.
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