Patent ID: 11908163
Assignee: TUSIMPLE, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 14:
15. The non-transitory computer readable storage medium of claim 13, wherein the second set of previously stored 3D world coordinates of the corners of the lane marker are projected to the coordinate system of the second sensor by:
obtaining a transformed point cloud by correlating the second sensor data received from the second sensor to one or more points of a point cloud map reference;
extracting a submap from a previously obtained map;
obtaining, by correlating the transformed point cloud to the submap, a first transformation matrix that describes transformation between the transformed point cloud and the submap;
determining additional transformation matrixes that describes transformation between a position of the second sensor, the one or more points of the point cloud map reference, and a reference point associated with an inertial measurement unit-global navigation satellite system (IMU-GNSS) sensor located in the vehicle; and
calculating the set of 3D world coordinates of the corners of the lane marker in the second sensor data based on the first transformation matrix, the additional transformation matrixes, and the second set of previously stored 3D world coordinates of the corners of the lane marker.