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

Claim 15:
16. 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 set of LiDAR points, further comprises:
clustering the first set of LiDAR points into spatial clusters of LiDAR points;
for each cluster:
filter the LiDAR points within the cluster to detect outlier LiDAR points;
refine the cluster by removing any detected outlier LiDAR points from the cluster;
filter the cluster by its convex hull, where the convex hull forms a rectangle of known dimensions;
detect edge points in the cluster;
project the edge points onto a plane of the cluster;
fit a two-dimensional (2D) rectangle to the edge points;
determine whether the fitted 2D rectangle defines a calibration target by formulating and solving a constraint optimization problem, which incorporates priors on the 2D rectangle's geometrical shape and dimensions; and
in accordance with the fitted 2D rectangle defining the calibration target, deriving a plane vector, boundary vectors and a centroid of the 2D rectangle as the features of the calibration target.