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公开(公告)号：US11151393B2
公开(公告)日：2021-10-19
申请号：US16792129
申请日：2020-02-14
Applicant: TUSIMPLE, INC.
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
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公开(公告)号：US11019274B2
公开(公告)日：2021-05-25
申请号：US16127022
申请日：2018-09-10
Applicant: TuSimple, Inc.
Inventor： Ke Xu , Xue Mei , Zehua Huang
Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.
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公开(公告)号：US20200084361A1
公开(公告)日：2020-03-12
申请号：US16127022
申请日：2018-09-10
Applicant: TuSimple
Inventor： Ke Xu , Xue Mei , Zehua Huang
Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.
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公开(公告)号：US10558864B2
公开(公告)日：2020-02-11
申请号：US15598727
申请日：2017-05-18
Applicant: TuSimple
Inventor： Zehua Huang , Pengfei Chen , Panqu Wang , Ke Xu
Abstract: A system and method for image localization based on semantic segmentation are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on an autonomous vehicle; performing semantic segmentation or other object detection on the received image data to identify and label objects in the image data and produce semantic label image data; identifying extraneous objects in the semantic label image data; removing the extraneous objects from the semantic label image data; comparing the semantic label image data to a baseline semantic label map; and determining a vehicle location of the autonomous vehicle based on information in a matching baseline semantic label map.
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Patent Agency Ranking
公开(公告)号：US11846510B2
公开(公告)日：2023-12-19
申请号：US17477406
申请日：2021-09-16
Applicant: TUSIMPLE, INC.
IPC: G06V10/75 , G01C21/16 , G01S17/89 , G01S17/86 , G01S17/931 , G06V20/56 , G06F18/24 , G06F18/2415 , G06V10/764 , G06T17/05
CPC classification number: G01C21/1656 , G01C21/1652 , G01S17/86 , G01S17/89 , G01S17/931 , G06F18/24 , G06F18/2415 , G06V10/757 , G06V10/764 , G06V20/56 , G06T17/05
Abstract: A system is disclosed including at least one memory including computer program instructions, which when executed by at least one processor, cause the system to at least generate, based on a plurality of images from a camera, a first map including a first plurality of features; generate, based on data from a light ranging sensor, a second map including a second plurality of features; and determine, based on a comparison of the first plurality of features and the second plurality of features, a position of the first map relative to the second map. A corresponding method and non-transitory computer-readable medium are also provided.
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公开(公告)号：US11158088B2
公开(公告)日：2021-10-26
申请号：US15701409
申请日：2017-09-11
Applicant: TuSimple, Inc.
Inventor： Bolun Zhang , Yi Wang , Ke Xu
Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.
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17.发明授权公开(公告)号：US11089288B2
公开(公告)日：2021-08-10
申请号：US15701398
申请日：2017-09-11
Applicant: TuSimple, Inc.
Inventor： Bolun Zhang , Yi Wang , Ke Xu
Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: calibrating intrinsic parameters of a set of cameras; extracting corner points associated with a pattern; and computing a vanishing point based on information on the extracted corner points.
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公开(公告)号：US10223807B1
公开(公告)日：2019-03-05
申请号：US15684414
申请日：2017-08-23
Applicant: TUSIMPLE
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform utilizing one or more autonomous vehicle driving modules that execute processing of images from a camera and data from a LiDAR the following steps comprising: aligning a 3D submap with a global map; extracting features from the 3D submap and the global map; classifying the extracted features in classes; and establishing correspondence of features in a same class between the 3D submap and the global map.
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19.发明授权公开(公告)号：US10223806B1
公开(公告)日：2019-03-05
申请号：US15684339
申请日：2017-08-23
Applicant: TUSIMPLE
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: constructing a 3D submap and a global map; extracting features from the 3D submap and the global map; matching features extracted from the 3D submap against features extracted from the global map; refining feature correspondence; and refining location of the 3D submap.
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