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

Claim 2:
3. The method of claim 1, 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 LiDAR sensor by:
obtaining a transformed point cloud by correlating the PCD received from the LiDAR sensor to one or more points of a point cloud map reference;
extracting a submap from a previously obtained PCD map;
performing a registration of the transformed point cloud to the submap to obtain a first transformation matrix that describes transformation between the transformed point cloud and the submap, wherein the registration correlates the transformed point cloud to the submap;
determining 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
calculating 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.