Sensor Calibration

Calibration procedures for AV2 sensors.

Camera Intrinsic Calibration

For USB cameras without factory calibration.

Equipment Needed

  • Checkerboard pattern (8x6 or similar)

  • Flat surface

Procedure

  1. Print checkerboard pattern at known size

  2. Capture 15-20 images from various angles

  3. Run calibration script:

python scripts/calibrate_camera.py --images calibration_images/ --pattern 8x6 --square_size 0.025

  1. Save calibration to config/camera_calibration.yaml

Camera-LIDAR Extrinsic Calibration

Align camera and LIDAR coordinate frames.

Procedure

  1. Place calibration target visible to both sensors

  2. Collect synchronized data

  3. Run alignment script

  4. Verify alignment visually

GPS Antenna Lever Arm

Configure offset from GPS antenna to vehicle origin.

Measurement

  1. Measure X, Y, Z offset from rear axle center to GPS antenna

  2. Enter in Xsens configuration or software

gps_lever_arm = {
    'x': 0.0,   # forward (m)
    'y': 0.0,   # left (m)
    'z': 1.7    # up (m)
}

Steering Calibration

Ensure steering center is correct.

Procedure

  1. Place vehicle on level ground

  2. Set steering command to 0

  3. Measure any wheel offset

  4. Adjust center offset in configuration