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.