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.