公开(公告)号：US20180356526A1

公开(公告)日：2018-12-13

申请号：US15621861

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI WANG ,  BOLUN ZHANG ,  YI LUO ,  KE XU

IPC: G01S17/89 ,  G01S7/497 ,  G06T7/292 ,  G06K9/00 ,  G01C21/16

CPC classification number: G01S17/89 ,  G01C21/165 ,  G01S7/4972 ,  G06K9/00208 ,  G06T7/292 ,  G06T2207/20012

Abstract: A method of generating a ground truth dataset for motion planning is disclosed. The method includes performing data alignment, collecting data in an environment, using sensors, calculating, among other sensors, light detecting and ranging (LiDAR)'s poses, stitching multiple LiDAR scans to form a local map, refining positions in the local map based on a matching algorithm, and projecting 3D points in the local map onto corresponding images.