Calibration and positioning of vehicle sensors

The invention discloses a perceptual sensor of a vehicle, which can be used for various operating functions of the vehicle. The computing device may receive sensor data from the perceptual sensor and may use the sensor data to calibrate the perceptual sensor to initiate effective operation of the vehicle. To calibrate a sensor, a computing device may project sensor data into a voxel space and determine a voxel score including an occupancy score and a residual value for each voxel. The computing device may then adjust the estimated position and/or orientation of the sensor from the at least one perceptual sensor and associated sensor data to minimize the voxel score. The computing device may calibrate the sensor using adjustments corresponding to the minimized voxel fraction. Further, the computing device may be configured to calculate an error in a location associated with the vehicle by calibrating data corresponding to the same point captured at different times. 本发明公开了车辆的感知传感器可以用于车辆的各种操作功能。计算设备可以从感知传感器接收传感器