公开(公告)号：US20240320990A1

公开(公告)日：2024-09-26

申请号：US18598715

申请日：2024-03-07

Applicant: TuSimple, Inc.

Inventor： Rundong GE ,  Long SHA ,  Haiping WU ,  Xiangchen ZHAO ,  Fangjun ZHANG ,  Zilong GUO ,  Hongyuan DU ,  Pengfei CHEN ,  Panqu WANG

IPC: G06V20/56 ,  B60W10/20 ,  G06T7/20 ,  G06V10/54 ,  G06V10/56 ,  G06V10/75 ,  G06V20/58

CPC classification number: G06V20/588 ,  B60W10/20 ,  G06T7/20 ,  G06V10/54 ,  G06V10/56 ,  G06V10/751 ,  G06V20/584

Abstract: Techniques are described for performing an image processing on frames of a camera located on or in a vehicle. An example technique includes receiving, by a computer located in a vehicle, a first image and a second image from a camera; determining a first set of characteristics about a first set of pixels in the first image and a second set of characteristics about a second set of pixels in the second image; obtaining a motion information for each pixel in the second set by comparing the second set of characteristics with the first set of characteristics; generating, using the motion information for each pixel in the second set, a combined set of characteristics; determining attributes of a road using at least some of the combined set of characteristics; and causing the vehicle to perform a driving related operation in response to the determining the attributes of the road.

公开(公告)号：US20230351556A1

公开(公告)日：2023-11-02

申请号：US18344577

申请日：2023-06-29

Applicant: TUSIMPLE, INC. ,  BEIJING TUSEN WEILAI TECHNOLOGY CO., LTD.

Inventor： Pengfei CHEN ,  Nan YU ,  Naiyan WANG ,  Xiaodi HOU

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

CPC classification number: G06T5/002 ,  G06T5/009 ,  G06T5/004 ,  B60W40/02 ,  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：US20230186616A1

公开(公告)日：2023-06-15

申请号：US18106929

申请日：2023-02-07

Applicant: TuSimple, Inc.

Inventor： Panqu WANG ,  Pengfei CHEN ,  Zehua HUANG

IPC: G06V10/82 ,  G05D1/02 ,  G06T7/12 ,  G06V10/44 ,  G06V10/26 ,  G06V20/58 ,  G06F18/2137

CPC classification number: G06V10/82 ,  G05D1/0246 ,  G06T7/12 ,  G06V10/44 ,  G06V10/26 ,  G06V20/58 ,  G06F18/2137 ,  G06T2207/20084 ,  G06T2207/20081 ,  G06T2207/30261 ,  G05D2201/0213 ,  G06T2207/30252

Abstract: A system method for occluding contour detection using a fully convolutional neural network is disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image by semantic segmentation; learning an array of upscaling filters to upscale the feature map into a final dense feature map of a desired size; applying the array of upscaling filters to the feature map to produce contour information of objects and object instances detected in the input image; and applying the contour information onto the input image.

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.

公开(公告)号：US20200126179A1

公开(公告)日：2020-04-23

申请号：US16165951

申请日：2018-10-19

Applicant: TuSimple

Inventor： Zhipeng YAN ,  Pengfei CHEN ,  Panqu WANG

IPC: G06T3/00 ,  G06T5/00 ,  G06T5/20 ,  G05D1/02

Abstract: A system and method for fisheye image processing is disclosed. A particular embodiment can be configured to: receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame; partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame; warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view; combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame; generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

公开(公告)号：US20190318456A1

公开(公告)日：2019-10-17

申请号：US16381707

申请日：2019-04-11

Applicant: TuSimple

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：US20190087672A1

公开(公告)日：2019-03-21

申请号：US15709832

申请日：2017-09-20

Applicant: TuSimple

Inventor： Yijie WANG ,  Ligeng ZHU ,  Panqu WANG ,  Pengfei CHEN

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/20 ,  G05D1/02

CPC classification number: G06K9/00825 ,  B60Y2200/11 ,  B60Y2200/12 ,  B60Y2200/143 ,  B60Y2200/22 ,  B60Y2200/252 ,  B60Y2200/30 ,  B60Y2200/51 ,  B60Y2200/52 ,  B60Y2200/86 ,  G05D1/0088 ,  G05D1/0246 ,  G05D2201/0201 ,  G05D2201/0204 ,  G05D2201/0208 ,  G05D2201/0213 ,  G06K9/00718 ,  G06K9/00805 ,  G06K9/209 ,  G06K9/6256 ,  G06K9/6288 ,  G06K2209/21

Abstract: A system method for detecting taillight signals of a vehicle using a convolutional neural network is disclosed. A particular embodiment includes: receiving a plurality of images from one or more image-generating devices; generating a frame for each of the plurality of images; generating a ground truth, wherein the ground truth includes a labeled image with one of the following taillight status conditions for a right or left taillight signal of the vehicle: (1) an invisible right or left taillight signal, (2) a visible but not illuminated right or left taillight signal, and (3) a visible and illuminated right or left taillight signal; creating a first dataset including the labeled images corresponding to the plurality of images, the labeled images including one or more of the taillight status conditions of the right or left taillight signal; and creating a second dataset including at least one pair of portions of the plurality of images, wherein the at least one pair of portions of the plurality of the images are in temporal succession.

公开(公告)号：US20180259970A1

公开(公告)日：2018-09-13

申请号：US15693446

申请日：2017-08-31

Applicant: TuSimple

Inventor： Panqu WANG ,  Pengfei CHEN ,  Zehua Huang

IPC: G05D1/02 ,  G06K9/46 ,  G06T7/70 ,  G06K9/66 ,  G06T7/11 ,  G05D1/00 ,  G06N3/04 ,  G06N3/08

Abstract: A system method for occluding contour detection using a fully convolutional neural network is disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image by semantic segmentation; applying a Dense Upsampling Convolution (DUC) operation on the feature map to produce contour information of objects and object instances detected in the input image; and applying the contour information onto the input image.

公开(公告)号：US20240346815A1

公开(公告)日：2024-10-17

申请号：US18638289

申请日：2024-04-17

Applicant: TuSimple, Inc.

Inventor： Panqu WANG ,  Pengfei CHEN

IPC: G06V10/82 ,  G06F18/2413 ,  G06T7/194 ,  G06V10/20 ,  G06V10/44 ,  G06V10/764 ,  G06V20/56 ,  G06V20/58

CPC classification number: G06V10/82 ,  G06F18/24133 ,  G06T7/194 ,  G06V10/255 ,  G06V10/454 ,  G06V10/764 ,  G06V20/56 ,  G06V20/58 ,  G06T2207/20081 ,  G06T2207/30252

Abstract: A system and method for vehicle wheel detection is disclosed. A particular embodiment can be configured to: receive training image data from a training image data collection system; obtain ground truth data corresponding to the training image data; perform a training phase to train one or more classifiers for processing images of the training image data to detect vehicle wheel objects in the images of the training image data; receive operational image data from an image data collection system associated with an autonomous vehicle; and perform an operational phase including applying the trained one or more classifiers to extract vehicle wheel objects from the operational image data and produce vehicle wheel object data.

公开(公告)号：US20240320988A1

公开(公告)日：2024-09-26

申请号：US18599015

申请日：2024-03-07

Applicant: TuSimple, Inc.

Inventor： Long SHA ,  Lezhou FENG ,  Pengfei CHEN ,  Panqu WANG

IPC: G06V20/58 ,  G06T7/90 ,  G06V10/25 ,  G06V10/44 ,  G06V10/60 ,  G06V10/80

CPC classification number: G06V20/584 ,  G06T7/90 ,  G06V10/25 ,  G06V10/44 ,  G06V10/60 ,  G06V10/806 ,  G06T2207/20132 ,  G06V2201/07

Abstract: Techniques are described for performing image processing on images of cameras located on or in a vehicle. An example technique includes receiving a first set of images obtained by a first camera and a second set of images obtained by a second camera; determining, for each image in the first set, a first set of features of a first object; determining, for each image in the second set, a second set of features of a second object; obtaining a third set of features of an object by combining the first set of features and the second set of features; obtaining a fourth set of features of the object by including one or more features of a light signal of the object; determining characteristic(s) indicated by the light signal; and causing a vehicle to perform a driving related operation based on the characteristic(s) of the object.