Calibration Monitoring And Adaptation Sample Clauses

Calibration Monitoring And Adaptation. ‌ The accuracy of extrinsic calibration parameters has an influence on the performance of data fusion. For instance, a 0.2◦ angular error in camera or LiDAR orientation misaligns the LiDAR-camera correspondence by about a pixel in the proposed setup. It is therefore important to monitor possible extrinsic parameter drift during the operation of the vehicle. This can be done by detecting misalignments across sensors. It is not necessary to process every data frame. One consideration is an unnecessary computational load and another consideration is that not all data frames would be useful for such a task, for instance abrupt maneuvers could help identify timestamp drift and static-vehicle frames could identify spatial correspondence drift among sensors without a negative influence of a motion correction procedure. This module works in two modes: monitoring and adaptation. In the monitoring mode a continuous on-line self-monitoring of the extrinsic calibration parameters and timestamp la- tencies is done and reported. In the adaptation mode the extrinsic parameters and latencies are updated on-line. The monitoring/adaptation process is coupled with a process that mon- itors vehicle state (standing, maneuver types, etc).
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Related to Calibration Monitoring And Adaptation

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