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公开(公告)号：US20210397867A1
公开(公告)日：2021-12-23
申请号：US16909962
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Chenzhe QIAN , Yijie WANG , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to select and crop a region of interest from an image obtained from a camera located on or in a vehicle, such as an autonomous semi-trailer truck. The region of interest can be identified by selecting one or more reference points and determining one or more positions of the one or more reference points on the image obtained from the camera. As an example, a location of two reference points may be 500 meters and 1000 meters in front of a location of autonomous vehicle, where the front of the autonomous vehicle is an area towards which the autonomous vehicle is being driven.
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公开(公告)号：US20210125370A1
公开(公告)日：2021-04-29
申请号：US16663242
申请日：2019-10-24
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Lingting GE , Yiqian GAN , Xiaodi HOU
Abstract: 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.
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公开(公告)号：US20250086828A1
公开(公告)日：2025-03-13
申请号：US18818790
申请日：2024-08-29
Applicant: TuSimple, Inc.
Inventor： Dongqiangzi YE , Yufei XIE , Weijia CHEN , Zixiang ZHOU , Lingting GE
Abstract: An image processing method includes performing, using images obtained from one or more sensors onboard a vehicle, a 2-dimensional (2D) feature extraction; performing, a 3-dimensional (3D) feature extraction on the images; detecting objects in the images by fusing detection results from the 2D feature extraction and the 3D feature extraction.
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公开(公告)号：US20250050913A1
公开(公告)日：2025-02-13
申请号：US18486809
申请日：2023-10-13
Applicant: TuSimple, Inc.
Inventor： Zhe CHEN , Lingting GE , Joshua Miguel RODRIGUEZ , Ji HAN , Panqu WANG , Junjun XIN , Xiaoling HAN , Yizhe ZHAO
IPC: B60W60/00
Abstract: Techniques are described for operating a vehicle using sensor data provided by one or more ultrasonic sensors located on or in the vehicle. An example method includes receiving, by a computer located in a vehicle, data from an ultrasonic sensor located on the vehicle, where the data includes a first set of coordinates of two points associated with a location where an object is detected by the ultrasonic sensor; determining a second set of coordinates associated with a point in between the two points; performing a first determination that the second set of coordinates is associated with a lane or a road on which the vehicle is operating; performing a second determination that the object is movable; and sending, in response to the first determination and the second determination, a message that causes the vehicle to perform a driving related operation while the vehicle is operating on the road.
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公开(公告)号：US20250029274A1
公开(公告)日：2025-01-23
申请号：US18488657
申请日：2023-10-17
Applicant: TuSimple, Inc.
Inventor： Yizhe ZHAO , Zhe CHEN , Ye FAN , Lingting GE , Zhe HUANG , Panqu WANG , Xue MEI
Abstract: The present disclosure provides methods and systems of sampling-based object pose determination. An example method includes obtaining, for a time frame, sensor data of the object acquired by a plurality of sensors; generating a two-dimensional bounding box of the object in a projection plane based on the sensor data of the time frame; generating a three-dimensional pose model of the object based on the sensor data of the time frame and a model reconstruction algorithm; generating, based on the sensor data, the pose model, and multiple sampling techniques, a plurality of pose hypotheses of the object corresponding to the time frame, generating a hypothesis projection of the object for each of the pose hypotheses by projecting the pose hypothesis onto the projection plane; determining evaluation results by comparing the hypothesis projections with the bounding box; and determining, based on the evaluation results, an object pose for the time frame.
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Patent Agency Ranking
公开(公告)号：US20250014305A1
公开(公告)日：2025-01-09
申请号：US18891113
申请日：2024-09-20
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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公开(公告)号：US20240203135A1
公开(公告)日：2024-06-20
申请号：US18474812
申请日：2023-09-26
Applicant: TuSimple, Inc.
Inventor： Yizhe ZHAO , Lingting GE , Panqu WANG
CPC classification number: G06V20/588 , B60W60/001 , G06T7/12 , G06T7/74 , G06T15/00 , G06V20/70 , G08G1/167 , B60W2420/42 , B60W2520/10 , B60W2552/10 , B60W2552/15 , B60W2555/60 , B60W2556/40 , B60W2710/18 , B60W2710/20 , G06T2207/30256
Abstract: Techniques are described for autonomous driving operation that includes receiving, by a computer located in a vehicle, an image from a camera located on the vehicle while the vehicle is operating on a road, wherein the image includes a plurality of lanes of the road; for each of the plurality of lanes: obtaining, from a map database stored in the computer, a set of values that describe locations of boundaries of a lane; dividing the lane into a plurality of polygons; rendering the plurality of polygons onto the image; and determining identifiers of lane segments of the lane; determining one or more characteristics of a lane segment on which the vehicle is operating based on an identifier of the lane segment; and causing the vehicle to perform a driving related operation in response to the one or more characteristics of the lane segment on which the vehicle is operating.
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公开(公告)号：US20230326168A1
公开(公告)日：2023-10-12
申请号：US18335785
申请日：2023-06-15
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
CPC classification number: G06V10/25 , G06T7/11 , G06T7/70 , G06T11/20 , B60W60/0025 , G06V20/584 , G06V20/58 , G06V10/82 , B60W2554/00 , G06T2207/20132 , G06T2210/12 , G06T2207/30252 , G06T2207/30236 , B60W2420/42
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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公开(公告)号：US20230065647A1
公开(公告)日：2023-03-02
申请号：US17822735
申请日：2022-08-26
Applicant: TUSIMPLE, INC.
Inventor： Scott Douglas FOSTER , Neil M. OVERMON , Erik Orlando PORTILLO , Zhujia SHI , Joyce TAM , Mohammad POORSARTEP , Christopher MILLER , Pengji DUAN , Lingting GE , Navid SARMADNIA , Panqu PANQU WANG , Zhe HUANG
IPC: G08G1/0965 , G08G1/0967 , G01S15/58 , G01S15/931 , G06V20/58 , G06N3/08
Abstract: An autonomous vehicle includes audio sensors configured to detect audio in an environment around the autonomous vehicle and to generate audio signals based on the detected audio. A processor in the autonomous vehicle receives the audio signals and compares a time domain or frequency domain representation of the audio signals to a corresponding representation of a known emergency vehicle siren. The comparison causes the processor to output a first determination indicating whether the audio signals are indicative of an emergency vehicle siren. The processor also applies a trained neural network to the audio signals that causes the processor to output a second determination indicating whether the audio signals are indicative of the emergency vehicle siren. If the first determination or the second determination indicates presence of an emergency vehicle siren in the environment around the autonomous vehicle, the autonomous vehicle is caused to perform an action.
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公开(公告)号：US20210397857A1
公开(公告)日：2021-12-23
申请号：US16909950
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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