公开(公告)号：US20220155776A1

公开(公告)日：2022-05-19

申请号：US16953089

申请日：2020-11-19

Applicant: TUSIMPLE, INC.

Inventor： Chenzhe QIAN ,  Chenghao GONG ,  Fuheng DENG

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

Abstract: Technique for performing multi-sensor collaborative calibration on a vehicle is disclosed. A method 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：US20240241515A1

公开(公告)日：2024-07-18

申请号：US18621904

申请日：2024-03-29

Applicant: TUSIMPLE, INC.

Inventor： Chenzhe QIAN ,  Chenghao GONG ,  Fuheng DENG

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

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

Abstract: Technique for performing multi-sensor collaborative calibration on a vehicle is disclosed. A method 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：US20230356734A1

公开(公告)日：2023-11-09

申请号：US18349783

申请日：2023-07-10

Applicant: TUSIMPLE, INC.

Inventor： Shane David GRIFFITH ,  Chenghao GONG ,  Chenzhe QIAN

IPC: B60W50/06 ,  G06T7/80 ,  G01S19/42 ,  B60W60/00 ,  G06V20/56

CPC classification number: B60W50/06 ,  G06T7/85 ,  G01S19/42 ,  B60W60/001 ,  G06V20/588 ,  B60W2552/53 ,  G06T2207/30256 ,  B60W2420/42

Abstract: Techniques for performing a sensor calibration using sequential data is disclosed. An example method includes receiving, from a first camera located on a vehicle, a first image comprising at least a portion of a road comprising lane markers, where the first image is obtained by the camera at a first time; obtaining a calculated value of a position of an inertial measurement (IM) device at the first time; obtaining an optimized first extrinsic matrix of the first camera by adjusting a function of a first actual pixel location of a location of a lane marker in the first image and an expected pixel location of the location of the lane marker; and performing autonomous operation of the vehicle using the optimized first extrinsic matrix of the first camera when the vehicle is operated on another road or at another time.

公开(公告)号：US20220227380A1

公开(公告)日：2022-07-21

申请号：US17150271

申请日：2021-01-15

Applicant: TUSIMPLE, INC.

Inventor： Shane David GRIFFITH ,  Chenghao GONG ,  Chenzhe QIAN

IPC: B60W50/06 ,  G06T7/80 ,  G06K9/00 ,  B60W60/00 ,  G01S19/42

Abstract: Techniques for performing a sensor calibration using sequential data is disclosed. An example method includes receiving, from a first camera located on a vehicle, a first image comprising at least a portion of a road comprising lane markers, where the first image is obtained by the camera at a first time; obtaining a calculated value of a position of an inertial measurement (IM) device at the first time; obtaining an optimized first extrinsic matrix of the first camera by adjusting a function of a first actual pixel location of a location of a lane marker in the first image and an expected pixel location of the location of the lane marker; and performing autonomous operation of the vehicle using the optimized first extrinsic matrix of the first camera when the vehicle is operated on another road or at another time.