Methods and apparatus for validating sensor data

In one example, a method is provided that includes receiving lidar data obtained by a lidar device. The lidar data includes a plurality of data points indicative of locations of reflections from an environment of the vehicle. The method includes receiving images of portions of the environment captured by a camera at different times. The method also includes determining locations in the images that correspond to a data point of the plurality of data points. Additionally, the method includes determining feature descriptors for the locations of the images and comparing the feature descriptors to determine that sensor data associated with at least one of the lidar device, the camera, or a pose sensor is accurate or inaccurate.