公开(公告)号：US11960276B2

公开(公告)日：2024-04-16

申请号：US16953089

申请日：2020-11-19

Applicant: TUSIMPLE, INC.

Inventor： Chenzhe Qian ,  Chenghao Gong ,  Fuheng Deng

IPC: G01S17/931 ,  G01C25/00 ,  G01S7/497 ,  G01S13/86 ,  G05D1/00

CPC classification number: G05D1/0011 ,  G01C25/005 ,  G01S7/497 ,  G01S13/865 ,  G01S17/931

Abstract: An example method for performing multi-sensor collaborative calibration on a vehicle includes obtaining, from at least two sensors located on a vehicle, sensor data items of an area that comprises a plurality of calibration objects; determining, from the sensor data items, attributes of the plurality of calibration objects; determining, for the at least two sensors, an initial matrix that describes a first set of extrinsic parameters between the at least two sensors based at least on the attributes of the plurality of calibration objects; determining an updated matrix that describes a second set of extrinsic parameters between the at least two sensors based at least on the initial matrix and a location of at least one calibration object; and performing autonomous operation of the vehicle using the second set of extrinsic parameters and additional sensor data received from the at least two sensors.

公开(公告)号：US10935378B2

公开(公告)日：2021-03-02

申请号：US15985599

申请日：2018-05-21

Applicant: TUSIMPLE, INC.

Inventor： Fuheng Deng ,  Renyuan Zhang ,  Lei Nie ,  Yuhe Jin

IPC: G01B11/26 ,  G01S17/89 ,  G06T7/246 ,  G01P3/36

Abstract: A system for generating a ground truth dataset for motion planning is disclosed. The system includes: a collecting module configured to collect LiDAR scans; a detecting module configured to detect two pose estimates that are closest to LiDAR scan accusation time; a determining module configured to determine LiDAR's poses based on an interpolation; and a transforming module configured to transform LiDAR raw scans into undistorted LiDAR scans.