公开(公告)号：US11521489B2

公开(公告)日：2022-12-06

申请号：US16788164

申请日：2020-02-11

Applicant: TUSIMPLE, INC.

Inventor： Zhujia Shi ,  Charles A. Price ,  Zehua Huang ,  Xiaodi Hou ,  Xiaoling Han ,  Todd Skinner

IPC: G08G1/017 ,  B60R11/04 ,  B60R21/0136 ,  G01S17/89 ,  G03B17/56 ,  G05D1/00 ,  G06V20/62

Abstract: Disclosed are devices, systems and methods for using a rotating camera for vehicular operation. One example of a method for improving driving includes determining, by a processor in the vehicle, that a trigger has activated, orienting, based on the determining, a single rotating camera towards a direction of interest, and activating a recording functionality of the single rotating camera, where the vehicle comprises the single rotating camera and one or more fixed cameras, and where the single rotating camera provides a redundant functionality for, and consumes less power than, the one or more fixed cameras.

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).

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.