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

Claim 0:
1. A method of autonomous vehicle operation, comprising:
obtaining, from each of at least two sensors located on a vehicle, a sensor data item of a road comprising a lane marker;
extracting, from each sensor data item, a location information of the lane marker, wherein the sensor data item is obtained as the vehicle is driven on the road, wherein the obtaining the sensor data item from each of the at least two sensors and the extracting the location information of the lane marker from each sensor data item comprises:
receiving, from a camera located on the vehicle, an image comprising the lane marker;
determining, from the image, pixel locations of corners of the lane marker;
receiving, from a light detection and ranging (LiDAR) sensor located on the vehicle, a frame comprising point cloud data (PCD) of an area of the road that comprises the lane marker; and
determining a set of three-dimensional (3D) world coordinates of the corners of the lane marker, wherein the set of 3D world coordinates of the corners of the lane marker are determined by:
obtaining, based on a location of the vehicle, a second set of previously stored three-dimension (3D) world coordinates of the corners of the lane marker; and
projecting the second set of previously stored 3D world coordinates of the corners of the lane marker to a coordinate system of the LiDAR sensor to obtain the set of 3D world coordinates of the corners of the lane marker in the frame; and

calculating extrinsic parameters of the at least two sensors based on determining a difference between the location information of the lane marker from each sensor data item and a previously stored location information of the lane marker, wherein the previously stored location information of the lane marker comprises the second set of previously stored 3D world coordinates of the corners of the lane marker.