Patent ID: 9606232
Date: 2017-03-28
CPC Classifications: G01S

Claim:
1. A method for determining a range offset of a range sensor due to a time varying delay, the range sensor having a predetermined position in a spatial environment and comprising a pixel array adapted for measuring a distance of each pixel of the pixel array to a corresponding position in the spatial environment, the spatial environment comprising at least two reference positions that are stationary with respect to the range sensor, the at least two reference positions including a first reference position and a second reference position, the first reference position being located at a first predetermined reference distance from the range sensor and the second reference position being located at a second predetermined reference distance from the range sensor, the first predetermined reference distance and the second predetermined reference distance being stored in a non-volatile memory or being hardcoded in the range sensor, the method comprising the steps of: a) determining a plurality of distance values, including at least a first distance value to the first reference position and a second distance value to the second reference position using the pixel array; b) calculating at least two differences, including a first difference and a second difference, the first difference being between the determined first distance value and the corresponding first predetermined reference distance of the first reference position, and the second difference being between the determined second distance value and the corresponding second predetermined reference distance of the second reference position; and c) calculating a maximum of the at least two differences; and d) determining an in-situ range offset value of the range sensor as said calculated maximum.