US Patent 10916035 Camera calibration using dense depth maps

This disclosure is directed to calibrating sensor arrays, including sensors arrays mounted on an autonomous vehicle. Image data from multiple cameras in the sensor array can be projected into other camera spaces using one or more dense depth maps. The dense depth map(s) can be generated from point cloud data generated by one of the sensors in the array. Differences determined by the comparison can indicate alignment errors between the cameras. Calibration data associated with the errors can be determined and used to calibrate the sensor array without the need for calibration infrastructure.