Patent attributes
Systems and methods for extrinsic calibration of vehicle-mounted sensors are provided. One example method involves obtaining first sensor data collected by a first sensor and a second sensor while a vehicle is aligned in a first yaw direction. The method also involves obtaining second sensor data collected by the first sensor and the second sensor while the vehicle is aligned in a second yaw direction. The method also involves determining, based on the first sensor data and the second sensor data, (i) first pitch and roll misalignments of the first sensor relative to the vehicle and (ii) second pitch and roll misalignments of the second sensor relative to the first sensor. The method also involves determining third pitch and roll misalignments of the second sensor relative to the vehicle based on (i) the first pitch and roll misalignments and (ii) the second pitch and roll misalignments.
