US Patent 12123984 Point clouds based lidar recalibration system for autonomous vehicles

Embodiments of the present disclosures disclose a method and a system to notify an operator that perception sensors of an autonomous driving vehicle (ADV) need to be recalibrated. In one embodiment, a system perceives a surrounding environment of an autonomous driving vehicle (ADV), including one or more obstacles. The system extracts feature information from previously stored point clouds mapping a three-dimensional surrounding environment of the ADV. The system identifies one or more matching features between the extracted feature information and features of the one or more obstacles. The system determines an average offset distance based on each of the matching features. The system determines an average offset distance distribution based on the average offset distance over a period of time. The system sends an alert to the ADV to alert that the one or more sensors is recommended for recalibration if the average offset distance distribution satisfies a predetermined condition.