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

IPC: G06T7/80 ,  B60R1/00

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.

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

IPC: H04N13/246 ,  G06T7/13 ,  G05D1/02 ,  G06T7/80 ,  H04N13/00 ,  G05D1/00

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.

公开(公告)号：US12228409B2

公开(公告)日：2025-02-18

申请号：US18539544

申请日：2023-12-14

Applicant: TUSIMPLE, INC.

Inventor： Yi Luo ,  Yi Wang ,  Ke Xu

IPC: G06V20/56 ,  G01C21/16 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G06F18/24 ,  G06F18/2415 ,  G06V10/75 ,  G06V10/764 ,  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.

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.

Inventor： Yi Luo ,  Yi Wang ,  Ke Xu

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/46 ,  G01S17/89 ,  G01C21/16 ,  G01S17/86 ,  G01S17/931 ,  G06T17/05

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.

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

IPC: H04N5/235 ,  H04N5/353 ,  G05D1/00 ,  G05D1/02 ,  B60R11/04

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.