公开(公告)号：US20220076446A1

公开(公告)日：2022-03-10

申请号：US17531447

申请日：2021-11-19

Applicant: TUSIMPLE, INC.

Inventor： Yijie WANG ,  Lingting GE ,  Yiqian GAN ,  Xiaodi HOU

IPC: G06T7/73 ,  G06T7/33

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.

公开(公告)号：US20210181351A1

公开(公告)日：2021-06-17

申请号：US16813180

申请日：2020-03-09

Applicant: TUSIMPLE, INC.

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

IPC: G01S17/931 ,  G01S17/89 ,  G01S7/00 ,  B60W10/20 ,  G05D1/02 ,  G05D1/00 ,  G06T7/73

Abstract: 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.