Patent ID: 11959774
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method comprising:
obtaining, from a first sensor of a vehicle and a second sensor of the vehicle, first sensor data collected while the vehicle is aligned in a first yaw direction, wherein the first sensor is configured to provide measurements related to a pose of the first sensor, wherein the second sensor is configured to scan an environment of the vehicle, and wherein the first sensor data comprises a first scan of the environment performed by the second sensor;
obtaining, from the first sensor and the second sensor, second sensor data collected while the vehicle is aligned in a second yaw direction, wherein the second sensor data comprises a second scan of the environment performed by the second sensor;
determining first pitch and roll misalignments of the first sensor relative to the vehicle based on the first sensor data and the second sensor data;
determining second pitch and roll misalignments of the second sensor relative to the first sensor based on the first sensor data and the second sensor data, wherein determining the second pitch and roll misalignments of the second sensor relative to the first sensor comprises determining a matrix that represents rotational offsets between the first scan of the environment performed by the second sensor and the second scan of the environment performed by the second sensor; and
determining third pitch and roll misalignments of the second sensor relative to the vehicle based on (i) the first pitch and roll misalignments and (ii) the second pitch and roll misalignments.