公开(公告)号：US11694308B2

公开(公告)日：2023-07-04

申请号：US17308911

申请日：2021-05-05

Applicant: TUSIMPLE, INC.

Inventor： Pengfei Chen ,  Nan Yu ,  Naiyan Wang ,  Xiaodi Hou

IPC: G06T5/00 ,  B60W40/02 ,  H04N25/13

CPC classification number: G06T5/002 ,  B60W40/02 ,  G06T5/004 ,  G06T5/009 ,  H04N25/13 ,  B60W2420/42 ,  G06T2207/10024

Abstract: Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.

公开(公告)号：US11373389B2

公开(公告)日：2022-06-28

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

IPC: G06K9/00 ,  G06V10/25 ,  G06T7/11 ,  G06T7/70 ,  B60W60/00 ,  G01C21/36 ,  G06V20/58 ,  G06V20/56

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.

公开(公告)号：US11010874B2

公开(公告)日：2021-05-18

申请号：US16381707

申请日：2019-04-11

Applicant: TuSimple, Inc.

Inventor： Pengfei Chen ,  Nan Yu ,  Naiyan Wang ,  Xiaodi Hou

IPC: G06T5/00 ,  H04N9/04 ,  B60W40/02

Abstract: Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.

公开(公告)号：US10816354B2

公开(公告)日：2020-10-27

申请号：US15683441

申请日：2017-08-22

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06K9/00 ,  G01S17/89 ,  G01S17/86

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US10657390B2

公开(公告)日：2020-05-19

申请号：US15822689

申请日：2017-11-27

Applicant: TuSimple, Inc.

Inventor： Xue Mei ,  Xiaodi Hou ,  Dazhou Guo ,  Yujie Wei

IPC: G06K9/00 ,  B60R11/04 ,  G07C5/00 ,  G01S17/42 ,  G06N3/02 ,  G01C21/32 ,  G06T7/10 ,  G06T7/246 ,  G01S17/89 ,  G06T5/50 ,  G06N3/04 ,  G06N3/08

Abstract: A system and method for large-scale lane marking detection using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data; and generating a lane marking map from the set of lane marking points.

公开(公告)号：US10565728B2

公开(公告)日：2020-02-18

申请号：US15996292

申请日：2018-06-01

Applicant: TUSIMPLE, INC.

Inventor： Xiaodi Hou ,  Xue Mei

IPC: G06T7/73 ,  G06T7/246 ,  G05D1/02

Abstract: Disclosed are devices, systems and methods for incorporating a smoothness constraint for camera pose estimation. One method for robust camera pose estimation includes determining a first bounding box based on a previous frame, determining a second bounding box based on a current frame that is temporally subsequent to the previous frame, estimating the camera pose by minimizing a weighted sum of a camera pose function and a constraint function, where the camera pose function tracks a position and an orientation of the camera in time, and where the constraint function is based on coordinates of the first bounding box and coordinates of the second bounding box, and using the camera pose for navigating the vehicle. The method may further include generating an initial estimate of the camera pose is based on a Global Positioning System (GPS) sensor or an Inertial Measurement Unit (IMU).

公开(公告)号：US10360257B2

公开(公告)日：2019-07-23

申请号：US15672217

申请日：2017-08-08

Applicant: TuSimple

Inventor： Xiaodi Hou ,  Siyuan Liu ,  Kai Zhou

IPC: G06F17/00 ,  G06F16/58 ,  G06F17/24 ,  G06F16/583

Abstract: A system and method for implementing an image annotation platform are disclosed. A particular embodiment includes: registering a plurality of labelers to which annotation tasks are assigned; assigning annotation tasks to the plurality of labelers; determining if the annotation tasks can be closed or re-assigned to the plurality of labelers; aggregating annotations provided by the plurality of labelers as a result of the closed annotation tasks; evaluating a level of performance of the plurality of labelers in providing the annotations; and calculating payments for the plurality of labelers based on the quantity and quality of the annotations provided by the plurality of labelers.

公开(公告)号：US12276516B2

公开(公告)日：2025-04-15

申请号：US18449340

申请日：2023-08-14

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G01S17/86 ,  G01S17/89 ,  G06V20/56

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US11928868B2

公开(公告)日：2024-03-12

申请号：US18090217

申请日：2022-12-28

Applicant: TuSimple, Inc.

Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

IPC: G06V20/58 ,  G01S7/48 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/16

CPC classification number: G06V20/58 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.

公开(公告)号：US11775915B2

公开(公告)日：2023-10-03

申请号：US16917699

申请日：2020-06-30

Applicant: TUSIMPLE, INC.

Inventor： Xiaodi Hou ,  Jason Wallace ,  Cheng Lu

IPC: G06Q10/08 ,  G06Q10/083

CPC classification number: G06Q10/083

Abstract: Systems and techniques disclosed in this patent document provide novel and efficient ground transportation of goods by self-driving trucks based on a system of infrastructures with shipping hub facilities serving as warehouses and services centers in accordance with unique characteristics of operating autonomous self-driving trucks without entirely relying on human drivers, including features to cover technological issues, fleet management issues, and customer service issues. In addition, the disclosed systems and techniques may be implemented to integrate other fleet services and modes of transportation of goods with transportation services by self-driving trucks.