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

Claim 10:
11. The system of claim 8, wherein the second set of previously stored 3D world coordinates of the corners of the lane marker are used with the coordinate system of the LiDAR sensor by the processor configured to:
obtain a transformed point cloud using the PCD received from the LiDAR sensor with one or more points of a point cloud map reference;
perform a registration of the transformed point cloud to a submap to obtain a first transformation matrix that describes transformation between the transformed point cloud and the submap, wherein the submap is obtained from a previous PCD map;
determine additional transformation matrixes that describes transformation between a position of the LiDAR 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
calculate the set of 3D world coordinates of the corners of the lane marker in the frame 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.