Patent ID: 11892574
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method of controlling a vehicle having a lidar device and a camera device, the method comprising:
receiving, by a controller onboard the vehicle, lidar data from the lidar device;
receiving, by the controller, image data from the camera device;
computing, by the controller, an edge map based on the lidar data;
computing, by the controller, an inverse distance transformation (IDT) canny map based on the image data;
computing, by the controller, an IDT contour map based on the image data;
computing, by the controller, an IDT edge map based on the IDT canny map and the IDT contour map;
aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters;
storing, by the controller, extrinsic parameters as calibrations in a data storage device; and
controlling, by the controller, the vehicle based on the stored calibrations.