Patent ID: 11945499
Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC B  G  Y | IPC B  G

Claim 2:
3. The method of claim 1, wherein said transforming the laser point cloud from the coordinate system of the multiple-beam lidar to the rotation center coordinate system of the tractor and the trailer, to form the point cloud data in the rotation center coordinate system comprises:
transforming the laser point cloud in the coordinate system of the multiple-beam lidar,

P={p0, . . . , pi, . . . , pn}, pi4, 4:x, y, z, i, 

into the rotation center coordinate system of the tractor and the trailer according to:, p
    i
    ′
   
   =
   
    
     
      T
      b
      j
     
     ⁢
     
      T
      l
      b
     
     ⁢
       
     
      p
      i
     
    
    =
    
     
      
       [
       
        
         
          
           R
           l
           j
          
         
         
          
           t
           l
           j
          
         
        
        
         
          
           0
           T
          
         
         
          1
         
        
       
       ]
      
      ⁢
      
       p
       i
      
     
     =
     
      
       
        R
        l
        j
       
       ⁢
       
        p
        i
       
      
      +
      
       t
       l
       j
      
     
    
   
  
  ,
 

to form the point cloud data in the rotation center coordinate system, P′={p′0, . . . , p′i, . . . , p′n}, where 4 represents a dimension of the laser point cloud, x, y, z represent three-dimensional coordinates of the laser point cloud, i represents a reflection intensity; Tbj is a transformation relationship from a coordinate system b of a vehicle body Inertial Measurement Unit (IMU) to a rotation center coordinate system j of the tractor and trailer, Tlb is a transformation relationship from a coordinate system l of the multiple-beam lidar to the coordinate system b of the vehicle body IMU, Rlj represents a rotation matrix from the coordinate system l of the multiple-beam lidar to the rotation center coordinate system j of the tractor and trailer, and tlj represents a translation matrix from the coordinate system l of the multiple-beam lidar to the rotation center coordinate system j of the tractor and trailer.