Patent ID: 11940539
Assignee: MOTIONAL AD LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 17:
18. The system of claim 11, wherein extracting, using the one or more processors of the vehicle, features of the one or more calibration targets from the first camera image, further comprises:
detecting , using a computer vision process, the one or more calibration targets in the first camera image; and
extracting three calibration target vectors from the detected calibration targets by solving a perspective-n-point (PnP) problem for each calibration target, where a solution to the PnP problem between global and pixel coordinates of each corner of each calibration target is a transformation from the camera coordinates to calibration target coordinates, which transforms the corner from a calibration target coordinate system to a camera coordinate system, and where column vectors of the transformation equate to the three calibration target vectors with respect to the camera coordinate system, wherein each centroid of a calibration target is derived by expressing all of the corner points of each calibration target with respect to the camera coordinate system, and wherein the centroid equates to an average pose of all of the corners in the camera coordinate system.