Sensor calibration facility

Abstract

In one embodiment, a facility for calibrating sensors of an autonomous vehicle (AV) includes a camera calibration target configured to be measured by and used for calibrating an optical camera of the AV; a light detection and ranging (LiDAR) calibration target configured to be measured by and used for calibrating a LiDAR transceiver of the AV; and a platform configured to allow the AV to drive onto and park on the platform. The camera calibration target and the LiDAR calibration target are positioned to be detectable by the optical camera and the LiDAR transceiver while the AV is parked on the platform. The platform is further configured to modify a lateral position, height, or orientation of the optical camera and the LiDAR transceiver relative to the camera calibration target and the LiDAR calibration target while the AV is parked on the platform.

What is claimed is: 
     
         1 . A facility for calibrating sensors of an autonomous vehicle (AV), comprising:
 a camera calibration target configured to be measured by and used for calibrating an optical camera of the AV;   a light detection and ranging (LiDAR) calibration target configured to be measured by and used for calibrating a LiDAR transceiver of the AV; and   a platform configured to allow the AV to drive onto and park on the platform, wherein:
 the camera calibration target and the LiDAR calibration target are positioned to be detectable by the optical camera and the LiDAR transceiver while the AV is parked on the platform; and 
 the platform is further configured to modify a lateral position, height, or orientation of the optical camera and the LiDAR transceiver relative to the camera calibration target and the LiDAR calibration target while the AV is parked on the platform. 
   
     
     
         2 . The facility of  claim 1 , further comprising one or more calibration targets configured to calibrate an inertial measurement unit, a radio-frequency transceiver, or an ultrasonic sensor. 
     
     
         3 . The facility of  claim 1 , wherein:
 the LiDAR calibration target comprises a plurality of regions having differing reflective properties;   the plurality of regions are configured to cause a LiDAR mapping of the LiDAR calibration target to exhibit a pattern discernable by the LiDAR transceiver; and   the visible pattern is used for calibrating the LiDAR transceiver.   
     
     
         4 . The facility of  claim 1 , wherein the camera calibration target comprises a checker-board pattern, color pattern or MacBeth chart located at a pre-determined distance from the platform. 
     
     
         5 . The facility of  claim 1 , wherein the LiDAR calibration target comprises a planar surface with a distribution of holes or 3-D perpendicular projections at one or more corners of the planar surface. 
     
     
         6 . The facility of  claim 1 , further comprising a moveable holder for holding the camera calibration target or the LiDAR calibration target, wherein the moveable holder is configured to modify a lateral position, height, or orientation of the held camera calibration target or LiDAR calibration target relative to a position of the platform while the optical camera or the LiDAR transceiver, respectively, is being calibrated, wherein the moveable holder is attached to a ceiling of the facility or affixed to a wall of the facility. 
     
     
         7 . The facility of  claim 1 , further comprising a projector configured to project the camera calibration target onto a projection surface of the facility, wherein the projector is configured to selectively modify the camera calibration target while the optical camera is being calibrated. 
     
     
         8 . The facility of  claim 1 , further comprising a second camera calibration target and a second LiDAR calibration target, wherein the camera calibration target and the second camera calibration target have different orientations relative to a position of the platform, wherein the LiDAR calibration target and the second LiDAR calibration target have different orientations relative to the position of the platform. 
     
     
         9 . The facility of  claim 1 , further comprising a track configured to transport the platform in accordance to a prescribed path while the optical camera and the LiDAR transceiver are being calibrated. 
     
     
         10 . The facility of  claim 1 , further comprising:
 a path configured to allow the AV to drive through; and   one or more additional calibration targets configured to be measured by and used for calibrating the optical camera and the LiDAR transceiver while the AV is driving through the path.   
     
     
         11 . A method comprising, by a computing system instructing a platform in a facility to perform operations comprising
 transporting an autonomous vehicle (AV) supported by a platform to a first predetermined position relative to a plurality of calibration targets configured to be measured by and used for calibrating an optical camera and a light detection and ranging (LiDAR) transceiver of the AV;   mechanically modifying a lateral position, height, or orientation of the AV, in to a position to detect the camera calibration target using the optical camera and the LiDAR calibration target using the LiDAR transceiver; and   transporting the platform to a second pre-determined position.   
     
     
         12 . The method of  claim 11 , wherein one or more of additional calibration targets are configured to be used to calibrate an inertial measurement unit, a radio-frequency transceiver, or an ultrasonic sensor. 
     
     
         13 . The method of  claim 11 , wherein:
 the one or more of the plurality of calibration targets comprises a plurality of regions having differing reflective properties; and   the plurality of regions are configured to cause a LiDAR mapping of the calibration target to exhibit a pre-determined pattern discernable by the LiDAR transceiver used for calibrating the LiDAR transceiver.   
     
     
         14 . The method of  claim 11 , wherein one or more of the calibration targets comprise a checker-board pattern, color patterns or MacBeth chart illuminated by a particular type of light source, or a white screen at a pre-determined distance from the platform. 
     
     
         15 . The method of  claim 11 , wherein the LiDAR calibration target comprises a planar surface with a distribution of holes or 3-D perpendicular projections at one or more corners of the planar surface. 
     
     
         16 . A system comprising:
 one or more processors; and   one or more computer-readable non-transitory storage media coupled to one or more of the processors, the one or more computer-readable non-transitory storage media comprising instructions operable when executed by one or more of the processors to cause a platform in a facility to perform operations comprising:
 transport an autonomous vehicle (AV) supported by a platform to a first predetermined position relative to one or more of a plurality of calibration targets configured to be measured by and used for calibrating an optical camera and a light detection and ranging (LiDAR) transceiver of the AV; 
 mechanically modify a lateral position, height, or orientation of the AV, in to a position to detect the camera calibration target using the optical camera and the LiDAR calibration target using the LiDAR transceiver; and 
 transport the platform to a second pre-determined position. 
   
     
     
         17 . The system of  claim 16 , wherein one or more of additional calibration targets are configured to be used to calibrate an inertial measurement unit, a radio-frequency transceiver, or an ultrasonic sensor. 
     
     
         18 . The system of  claim 16 , wherein:
 the one or more of the plurality of calibration targets comprises a plurality of regions having differing reflective properties; and   the plurality of regions are configured to cause a LiDAR mapping of the calibration target to exhibit a pre-determined pattern discernable by the LiDAR transceiver used for calibrating the LiDAR transceiver.   
     
     
         19 . The system of  claim 16 , wherein one or more of the calibration targets comprise a checker-board pattern, color patterns or MacBeth chart illuminated by a particular type of light source, or a white screen at a pre-determined distance from the platform. 
     
     
         20 . The system of  claim 16 , wherein the LiDAR calibration target comprises a planar surface with a distribution of holes or 3-D perpendicular projections at one or more corners of the planar surface.