PERCEPTION DATA GEOMETRY CALIBRATION SYSTEM

A perception data geometry calibration system calibrates perception data geometry captured by one or more vehicles located within a predefined geographical area. In one embodiment, the perception data geometry system includes one or more central computers that receive local map data representing the predefined geographical area from a particular vehicle and corresponding high-definition map data over a communication network. The local map data includes a plurality of perception data geometry features that define objects within an environment surrounding the particular vehicle. The one or more central computers determine a unique calibrated scaling ratio for each road segment that is part of a vehicle trajectory based on one or more non-linear optimization algorithms by minimizing a cost function between road-segment points that represent a particular perception data geometry feature based on the local map data with corresponding road-segment points that are based on the high-definition map data.