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    IMAGE FUSION FOR AUTONOMOUS VEHICLE OPERATION
    5.
    发明公开
    IMAGE FUSION FOR AUTONOMOUS VEHICLE OPERATION 审中-公开

    公开(公告)号：EP3751455A3

    公开(公告)日：2021-03-10

    申请号：EP20178069.9

    申请日：2020-06-03

    申请人： TuSimple, Inc.

    发明人： WANG, Yijie ,  LIU, Siyuan ,  GE, Lingting ,  HUANG, Zehua

    IPC分类号： G06K9/00

    摘要： Devices, systems and methods for fusing scenes from real-time image feeds from on-vehicle cameras in autonomous vehicles to reduce redundancy of the information processed to enable real-time autonomous operation are described. One example of a method for improving perception in an autonomous vehicle includes receiving a plurality of cropped images, wherein each of the plurality of cropped images comprises one or more bounding boxes that correspond to one or more objects in a corresponding cropped image; identifying, based on the metadata in the plurality of cropped images, a first bounding box in a first cropped image and a second bounding box in a second cropped image, wherein the first and second bounding boxes correspond to a common object; and fusing the metadata corresponding to the common object from the first cropped image and the second cropped image to generate an output result for the common object.

    DATA INTEGRATION FROM MULTIPLE SENSORS
    7.
    发明公开
    DATA INTEGRATION FROM MULTIPLE SENSORS 审中-公开

    公开(公告)号：EP3839823A1

    公开(公告)日：2021-06-23

    申请号：EP20214442.4

    申请日：2020-12-16

    申请人： TuSimple, Inc.

    发明人： GE, Lingting ,  WANG, Yijie ,  GAN, Yiqian ,  HAO, Jianan ,  HOU, Xiaodi

    IPC分类号： G06K9/62 ,  G06K9/00 ,  B60W60/00 ,  G01S17/86 ,  G06T7/80 ,  G06N20/00 ,  G05D1/02

    摘要： Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.

    CAMERA ORIENTATION ESTIMATION
    8.
    发明公开
    CAMERA ORIENTATION ESTIMATION 审中-公开

    公开(公告)号：EP3813020A1

    公开(公告)日：2021-04-28

    申请号：EP20203066.4

    申请日：2020-10-21

    申请人： Tusimple, Inc.

    发明人： WANG, Yijie ,  GE, Lingting ,  GAN, Yiqian ,  HOU, Xiaodi

    IPC分类号： G06T7/80

    摘要： Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.