公开(公告)号：US20230306628A1

公开(公告)日：2023-09-28

申请号：US18181438

申请日：2023-03-09

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Pingyuan JI ,  Jun Wu ,  Xiaokang He ,  Yajia Wang

IPC: G06T7/70 ,  G01S17/89

CPC classification number: G06T7/70 ,  G01S17/89

Abstract: A data acquisition apparatus and method for determining a pose thereof. The disclosed data acquisition apparatus includes a mounting component and the sensor fixed to the mounting component. The sensor is oriented at a preset pose relative to the ground and configured to scan the surrounding environment of the data acquisition apparatus at a scanning frequency as a vehicle moves on the ground to obtain a sequence of point cloud data frames. The pose allows a coverage of an effective field of view of the sensor on the ground to be continuous across temporally neighboring frames in the sequence of point cloud data frames.