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    PERCEPTION SYSTEM FOR AUTONOMOUS VEHICLES
    21.
    发明申请
    PERCEPTION SYSTEM FOR AUTONOMOUS VEHICLES 有权

    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

    IPC: G06K9/00 ,  G06T7/11 ,  G06K9/32 ,  G06T7/70 ,  G06T11/20 ,  B60W60/00

    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.

    SYSTEM AND METHOD FOR ONLINE REAL-TIME MULTI-OBJECT TRACKING
    22.
    发明申请
    SYSTEM AND METHOD FOR ONLINE REAL-TIME MULTI-OBJECT TRACKING 审中-公开

    公开(公告)号：US20200265249A1

    公开(公告)日：2020-08-20

    申请号：US16868400

    申请日：2020-05-06

    Applicant: TUSIMPLE, INC.

    Inventor： Lingting GE ,  Pengfei CHEN ,  Panqu WANG

    IPC: G06K9/00 ,  G06T7/73 ,  G06T7/246 ,  G06N3/04 ,  G06N3/08

    Abstract: A system and method for online real-time multi-object tracking is disclosed. A particular embodiment can be configured to: receive image frame data from at least one camera associated with an autonomous vehicle; generate similarity data corresponding to a similarity between object data in a previous image frame compared with object detection results from a current image frame; use the similarity data to generate data association results corresponding to a best matching between the object data in the previous image frame and the object detection results from the current image frame; cause state transitions in finite state machines for each object according to the data association results; and provide as an output object tracking output data corresponding to the states of the finite state machines for each object.

    TRANSFORMER FRAMEWORK FOR TRAJECTORY PREDICTION
    23.
    发明申请
    TRANSFORMER FRAMEWORK FOR TRAJECTORY PREDICTION 有权

    公开(公告)号：US20250085115A1

    公开(公告)日：2025-03-13

    申请号：US18501362

    申请日：2023-11-03

    Applicant: TuSimple, Inc.

    Inventor： Hao XIAO ,  Yiqian GAN ,  Ethan ZHANG ,  Xin YE ,  Yizhe ZHAO ,  Zhe HUANG ,  Lingting GE ,  Robert August ROSSI, JR.

    IPC: G01C21/30

    Abstract: A computer-implemented method of trajectory prediction includes obtaining a first cross-attention between a vectorized representation of a road map near a vehicle and information obtained from a rasterized representation of an environment near the vehicle by processing through a first cross-attention stage; obtaining a second cross-attention between a vectorized representation of a vehicle history and information obtained from the rasterized representation by processing through a second cross-attention stage; operating a scene encoder on the first cross-attention and the second cross-attention; operating a trajectory decoder on an output of the scene encoder; obtaining one or more trajectory predictions by performing one or more queries on the trajectory decoder.

    DETERMINING POSE FOR DRIVING OPERATIONS
    26.
    发明申请
    DETERMINING POSE FOR DRIVING OPERATIONS 有权

    公开(公告)号：US20250042369A1

    公开(公告)日：2025-02-06

    申请号：US18486874

    申请日：2023-10-13

    Applicant: TuSimple, Inc.

    Inventor： Yizhe ZHAO ,  Zhe CHEN ,  Lingting GE ,  Panqu WANG

    IPC: B60T7/22 ,  B62D15/02 ,  G06T7/60 ,  G06T7/70 ,  G06V10/12 ,  G06V20/58

    Abstract: Techniques are described for determining a set of pose information for an object when multiple sets of pose information are determined for a same object from multiple images. An example driving operation method includes obtaining, by a computer located in a vehicle, at least two sets of pose information related to an object located on a road on which the vehicle is operating, where each set of pose information includes characteristic(s) about the object, and where each set of pose information is determined from an image obtained by a camera; determining at least two weighted output vectors; determining, for the object, a set of pose information that are based on a combined weighted output vector that is obtained by combining the at least two weighted output vectors; and causing the vehicle to perform a driving-related operation using the set of pose information for the object.

    CAMERA ORIENTATION ESTIMATION
    30.
    发明公开
    CAMERA ORIENTATION ESTIMATION 审中-公开

    公开(公告)号：US20230334696A1

    公开(公告)日：2023-10-19

    申请号：US18339940

    申请日：2023-06-22

    Applicant: TUSIMPLE, INC.

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

    IPC: G06T7/73 ,  G06T7/33

    CPC classification number: G06T7/74 ,  G06T7/337 ,  G06T2207/30184 ,  G06T2207/30252

    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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