Patent ID: 11841437

Abstract:
In one embodiment, a set of LIDAR images are received representing the LIDAR point cloud data captured by a LIDAR device of an autonomous driving vehicle (ADV) at different point in times. Each of the LIDAR imagers is transformed or translated from a local coordinate system (e.g., LIDAR coordinate space) to a global coordinate system (e.g., GPS coordinate space) using a coordinate converter configured with a set of parameters. A first LIDAR reflection map is generated based on the transformed LIDAR images, for example, by merging the transformed LIDAR images together. The coordinate converter is optimized by adjusting one or more parameters of the coordinate converter based on the difference between the first LIDAR reflection map and a second LIDAR reflection map that serves as a reference LIDAR reflection map. The optimized coordinate converter can then be utilized to process LIDAR data for autonomous driving at real-time.