公开(公告)号：US20180357503A1

公开(公告)日：2018-12-13

申请号：US15621884

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI WANG ,  BOLUN ZHANG ,  YI LUO ,  KE XU

IPC: G06K9/46 ,  H04N19/80 ,  G01C21/16 ,  G06K9/00

CPC classification number: G06K9/46 ,  G01C21/165 ,  G06K9/00208 ,  G06K2009/4695 ,  G06T2207/20012 ,  H04N19/80

Abstract: A system for generating a ground truth dataset for motion planning is disclosed. The system includes sensors for data acquisition for motion planning of a vehicle, the sensors including a LiDAR; a calculating module configured to calculate LiDAR poses in response to data from the sensors and generate undistorted LiDAR scans; an extracting module configured to extract static points from a target undistorted LiDAR scan and generate a LiDAR static-scene point cloud; and a generating module configured to generate sparse image point correspondences for each pair of images, using the LiDAR static-scene point cloud.

公开(公告)号：US20190082156A1

公开(公告)日：2019-03-14

申请号：US15701398

申请日：2017-09-11

Applicant: TUSIMPLE

Inventor： BOLUN ZHANG ,  YI WANG ,  KE XU

IPC: H04N13/02 ,  G06T7/13 ,  G05D1/02

Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: calibrating intrinsic parameters of a set of cameras; extracting corner points associated with a pattern; and computing a vanishing point based on information on the extracted corner points.

公开(公告)号：US20190080478A1

公开(公告)日：2019-03-14

申请号：US15701409

申请日：2017-09-11

Applicant: TUSIMPLE

Inventor： BOLUN ZHANG ,  YI WANG ,  KE XU

IPC: G06T7/80 ,  B60R1/00

Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.

公开(公告)号：US20180356526A1

公开(公告)日：2018-12-13

申请号：US15621861

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI WANG ,  BOLUN ZHANG ,  YI LUO ,  KE XU

IPC: G01S17/89 ,  G01S7/497 ,  G06T7/292 ,  G06K9/00 ,  G01C21/16

CPC classification number: G01S17/89 ,  G01C21/165 ,  G01S7/4972 ,  G06K9/00208 ,  G06T7/292 ,  G06T2207/20012

Abstract: A method of generating a ground truth dataset for motion planning is disclosed. The method includes performing data alignment, collecting data in an environment, using sensors, calculating, among other sensors, light detecting and ranging (LiDAR)'s poses, stitching multiple LiDAR scans to form a local map, refining positions in the local map based on a matching algorithm, and projecting 3D points in the local map onto corresponding images.