Secure Camera Based Inertial Measurement Unit Calibration for Stationary Systems

Described are techniques and systems for secure camera based IMU calibration for stationary systems, including vehicles. Existing vehicle camera systems are employed, with enhanced security to prevent malicious attempts by hackers to try and cause a vehicle to enter IMU calibration mode. IMU calibration occurs when a calibration system determines the vehicle is parked in a controlled environment; calibration targets are positioned at different viewing angles to vehicle cameras to act as sources of optical patterns of encoded data. Features of the patterns are for security as well as for alignment functionality. Images of the calibration targets enable inference of a vehicle coordinate system, from which calculations for IMU mounting error compensations are performed. A relative rotation between the IMU and the vehicle coordinate system are applied to IMU data to compensate for relative rotations between the vehicle and the IMU, thereby improving vehicle slope and bank metrics.