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    Verification module system and method for motion-based lane detection with multiple sensors
    41.
    发明授权
    Verification module system and method for motion-based lane detection with multiple sensors 有权

    公开(公告)号：US11874130B2

    公开(公告)日：2024-01-16

    申请号：US18158974

    申请日：2023-01-24

    Applicant: TuSimple, Inc.

    Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

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

    CPC classification number: G01C21/3658 ,  G06V20/588 ,  G01S17/86 ,  G01S17/89 ,  G06V2201/10

    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.

    System and method for vehicle position and velocity estimation based on camera and LIDAR data
    46.
    发明授权
    System and method for vehicle position and velocity estimation based on camera and LIDAR data 有权

    公开(公告)号：US11557128B2

    公开(公告)日：2023-01-17

    申请号：US16752637

    申请日：2020-01-25

    Applicant: TuSimple, Inc.

    Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

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

    Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

    Smoothness constraint for camera pose estimation
    48.
    发明授权
    Smoothness constraint for camera pose estimation 有权

    公开(公告)号：US11195300B2

    公开(公告)日：2021-12-07

    申请号：US16717937

    申请日：2019-12-17

    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).

    Camera orientation estimation
    49.
    发明授权
    Camera orientation estimation 有权

    公开(公告)号：US11189051B2

    公开(公告)日：2021-11-30

    申请号：US16663242

    申请日：2019-10-24

    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.

    SMOOTHNESS CONSTRAINT FOR CAMERA POSE ESTIMATION
    50.
    发明申请
    SMOOTHNESS CONSTRAINT FOR CAMERA POSE ESTIMATION 审中-公开

    公开(公告)号：US20190370997A1

    公开(公告)日：2019-12-05

    申请号：US15996292

    申请日：2018-06-01

    Applicant: TuSimple

    Inventor： Xiaodi Hou ,  Xue Mei

    IPC: G06T7/73 ,  G06T7/246

    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).

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