公开(公告)号：US20220146282A1

公开(公告)日：2022-05-12

申请号：US17648992

申请日：2022-01-26

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Zehua Huang

IPC: G01C25/00 ,  G01C11/04 ,  G01S17/10 ,  G01S7/48 ,  G01C9/06 ,  G06T7/80 ,  H04N17/00 ,  G01S7/4865 ,  G01S17/931 ,  G01S17/46 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89

Abstract: Technique for performing camera calibration on a vehicle is disclosed. A method of performing camera calibration includes emitting, by a laser emitter located on a vehicle and pointed towards a road, a first laser pulse group towards a first location on a road and a second laser pulse group towards a second location on the road, where each laser pulse group includes one or more laser spots. For each laser pulse group: a first set of distances are calculated from a location of a laser receiver to the one or more laser spots, and a second set of distances are determined from an image obtained from a camera, where the second set of distances are from a location of the camera to the one or more laser spots. The method also includes determining two camera calibration parameters of the camera by solving two equations.

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.

公开(公告)号：US10942771B2

公开(公告)日：2021-03-09

申请号：US16275984

申请日：2019-02-14

Applicant: TuSimple, Inc.

Inventor： Yifan Gong ,  Siyuan Liu ,  Dinghua Li ,  Jiangming Jin ,  Lei Su ,  YiXin Yang ,  Wei Liu ,  Zehua Huang

IPC: G06F9/48 ,  G06F16/901 ,  G06F9/54

Abstract: The present disclosure provides a method, an apparatus and a system for multi-module scheduling, capable of solving at least one of the problems associated with the multi-module scheduling technique in the related art, i.e., inconsistency in data inputted to a computing module, and a significant delay or low throughput in data transmission between computing modules. The method includes: reading, by a master process, a pre-stored configuration file storing a directed computation graph; initializing, by the master process, states of the nodes and connecting edges in a current computing period; determining a node to be called based on the computation direction of the directed computation graph and the states of the nodes, the node to be called comprising a node having all of its input edges in a complete state; transmitting, to the computing module in the slave process corresponding to the node to be called, a call request of Remote Process Call (RPC) to execute the computing module; updating the state of the node and the state of each output edge of the node upon receiving a response to the call request; and proceeding with a next computing period after determining that the states of all the nodes in the directed computation graph have been updated.

公开(公告)号：US20200084361A1

公开(公告)日：2020-03-12

申请号：US16127022

申请日：2018-09-10

Applicant: TuSimple

Inventor： Ke Xu ,  Xue Mei ,  Zehua Huang

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

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.

公开(公告)号：US10558864B2

公开(公告)日：2020-02-11

申请号：US15598727

申请日：2017-05-18

Applicant: TuSimple

Inventor： Zehua Huang ,  Pengfei Chen ,  Panqu Wang ,  Ke Xu

IPC: G06K9/00 ,  G05D1/02

Abstract: A system and method for image localization based on semantic segmentation are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on an autonomous vehicle; performing semantic segmentation or other object detection on the received image data to identify and label objects in the image data and produce semantic label image data; identifying extraneous objects in the semantic label image data; removing the extraneous objects from the semantic label image data; comparing the semantic label image data to a baseline semantic label map; and determining a vehicle location of the autonomous vehicle based on information in a matching baseline semantic label map.

公开(公告)号：US10303956B2

公开(公告)日：2019-05-28

申请号：US15684791

申请日：2017-08-23

Applicant: TuSimple

Inventor： Zehua Huang ,  Panqu Wang ,  Pengfei Chen ,  Tian Li

IPC: G05D1/02 ,  G06K9/00 ,  G08G1/16 ,  G06T7/10 ,  G06K9/78

Abstract: A system and method for using triplet loss for proposal free instance-wise semantic segmentation for lane detection are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on an autonomous vehicle; performing a semantic segmentation operation or other object detection on the received image data to identify and label objects in the image data with object category labels on a per-pixel basis and producing corresponding semantic segmentation prediction data; performing a triplet loss calculation operation using the semantic segmentation prediction data to identify different instances of objects with similar object category labels found in the image data; and determining an appropriate vehicle control action for the autonomous vehicle based on the different instances of objects identified in the image data.

公开(公告)号：US10067509B1

公开(公告)日：2018-09-04

申请号：US15693446

申请日：2017-08-31

Applicant: TuSimple

Inventor： Panqu Wang ,  Pengfei Chen ,  Zehua Huang

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

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.