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

Claim 10:
11. A vehicle system of a vehicle, comprising:
a lidar device;
a camera device; and
a controller configured to, by a processor, receive lidar data from the lidar device, compute a lidar edge map based on the lidar data, receive image data from the camera device, compute, an inverse distance transformation (IDT) canny map based on the image data, compute 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, align points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters, store extrinsic parameters as calibrations in a data storage device, and control the vehicle based on the stored calibrations.