Systems and methods for calibrating a LiDAR device

Patent metadata

Field	Value
Publication number	US-12105225-B2
Application number	US-202016852128-A
Country	US
Kind code	B2
Filing date	Apr 17, 2020
Priority date	Apr 17, 2020
Publication date	Oct 1, 2024
Grant date	Oct 1, 2024

Abstract

Systems and methods for calibrating a LiDAR device are disclosed. According to one embodiment, the system comprises a LiDAR device, a continuous curved target at a fixed distance from the LiDAR device, and a calibration controller operable to perform a reflectance over range calibration of the LiDAR device. The LiDAR device scans portions of the continuous curved target at different ranges during the calibration.

First claim

What is claimed is:

1. A system, comprising:
a LiDAR device comprising a plurality of channels;
a calibration target comprising a continuous curved concave reflective surface extending between first and second ends of the calibration target and positioned with respect to the LiDAR device such that the first end is at a first fixed distance from the LiDAR device and the second end is at a second fixed distance from the LiDAR device greater than the first fixed distance; and
a calibration controller operable to perform a reflectance over range calibration of the
LiDAR device by scanning, with the LiDAR device, portions of the continuous curved reflective surface of the calibration target with the plurality of channels; and
wherein the calibration target is positioned and the reflective surface is configured such that, during the scanning, each channel in the plurality of channels scans a different range while glancing angles of return signals for each channel are substantially uniform.

2. The system of claim 1 , wherein the calibration controller includes:
a robot arm operable to maneuver the LiDAR device with between one and six degrees of freedom;
a processing device; and
a computer-readable storage device storing instructions that, when executed by the processing device, cause the calibration controller to perform the reflectance over range calibration of the LiDAR device.

3. The system of claim 2 , wherein the calibration further comprises:
holding, by the robot arm, the LiDAR device at an orientation with respect to the target, such that a vertical field of view (FOV) of the LiDAR device is substantially parallel to a width direction of the target.

4. The system of claim 3 , wherein the calibration further comprises:
rotating, by the robot arm, the LiDAR device around an axis substantially parallel to a height dimension of the target, whereby a plurality of channels of the LiDAR device simultaneously scan the target in a same track extending along a surface of the target in the width direction of the target.

5. The system of claim 1 , wherein the LiDAR device comprises a plurality of channels, and wherein scanning the portions of the continuous curved target at the plurality of different ranges comprises:
emitting, by each channel of the LiDAR device, a plurality of light signals directed toward a plurality of respective reflection points on a surface of the target;
receiving, by each channel of the LiDAR device, a plurality of return signals reflected from the plurality of respective reflection points on the surface of the target at a substantially constant glancing angle; and
for each of the return signals, determining, by the LiDAR device, a respective range from the LiDAR device to the respective reflection point of the return signal.

6. The system of claim 5 , wherein the calibration further comprises generating a reflectance correction map for the LiDAR device based, at least in part, on information derived from the return signals.

7. The system of claim 6 , wherein each of the return signals is associated with the range from the LiDAR device to the reflection point of the respective return signal and with the respective channel that receives the respective return signal, and wherein generating the reflectance correction map for the LiDAR device comprises, for each of the return signals:
determining, based on the respective return signal, a baseline reflectance of the surface of the target at the respective reflection point of the return signal;
obtaining a reference reflectance of the surface of the target at the respective reflection point of the return signal;
determining a reflectance correction factor for the channel and the range associated with the respective return signal, based on the baseline reflectance and the reference reflectance corresponding to the return signal; and
storing the reflectance correction factor for the associated channel and range in the reflectance correction map for the LiDAR device.

8. The system of claim 7 , wherein the reflectance correction factor is determined based on a ratio between the reference reflectance corresponding to the return signal and the baseline reflectance corresponding to the return signal.

9. The system of claim 6 , wherein the scanning of the portions of the continuous curved target is completed before the generating of the reflectance correction map is initiated.

10. The system of claim 6 , wherein a reference reflectance of the surface of the target is between 1% and 100% diffuse reflectance, and wherein the reflectance correction map stores a plurality of reference correction factors corresponding to return signals reflected by diffuse reflective surfaces.

11. The system of claim 6 , wherein a reference reflectance of the surface of the target is between 1% and 100% retro-reflectance, and wherein the reflectance correction map stores a plurality of reference correction factors corresponding to return signals reflected by retro-reflective surfaces.

12. A method for calibrating a LiDAR device, the method comprising:
performing reflectance over range calibration of a LiDAR device, by:
scanning, with the LiDAR device, portions of a concave continuous curved reflective surface of a calibration target, wherein the concave continuous curved reflective surface extends between first and second ends of the calibration target and is positioned, with respect to the LiDAR device, such that the first end is at a first fixed distance from the LiDAR device and the second end is at a second fixed distance from the LiDAR device greater than the first fixed distance; and
generating a reflectance correction map for the LiDAR device based, at least in part, on information derived from the scanning of the portions of the concave continuous curved reflective surface of the calibration target.

13. The method of claim 12 , wherein the scanning comprises:
holding, by a robot arm, the LiDAR device at an orientation with respect to the continuous curved target, such that a vertical field of view (FOV) of the LiDAR device is substantially parallel to a width direction of the continuous curved target; and
rotating, by the robot arm, the LiDAR device around an axis substantially parallel to a height dimension of the continuous curved target, whereby a plurality of channels of the LiDAR device simultaneously scan the target in a same track extending along a surface of the target in the width direction of the target.

14. The method of claim 12 , wherein the LiDAR device comprises a plurality of channels, and wherein scanning the portions of the continuous curved target comprises, at a plurality of different ranges:
emitting, by each channel of the LiDAR device, a plurality of light signals directed toward a plurality of respective reflection points on a surface of the target;
receiving, by each channel of the LiDAR device, a plurality of return signals reflected from the plurality of respective reflection points on the surface of the target at a substantially constant glancing angle; and
for each of the return signals, determining, by the LiDAR device, a respective range from the LiDAR device to the respective reflection point of the return signal.

15. The method of claim 14 , wherein each of the return signals is associated with the range from the LiDAR device to the reflection point of the respective return signal and with the respective channel that receives the respective return signal, and wherein generating the reflectance correction map for the LiDAR device comprises, for each of the return signals:
determining, based on the respective return sig

Assignees

• Velodyne Lidar Usa Inc

Inventors

• Cai Zhongping
• Ramirez Geovany
• Shah Ayush
• Luk Shing Leung
• Smith Marcus

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G05B2219/37558

  Optical sensor, scanner · CPC title

• G05B2219/37288

  Tracking lasers follow object, reflection gives 3-D position · CPC title

• G05B19/4061

  Avoiding collision or forbidden zones · CPC title