公开(公告)号：US20180357773A1

公开(公告)日：2018-12-13

申请号：US15621945

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI WANG ,  YI LUO ,  WENTAO ZHU ,  PANQU WANG

IPC: G06T7/207 ,  G06T7/285 ,  G06T7/579

CPC classification number: G06T7/207 ,  G01C15/002 ,  G01C21/28 ,  G06T7/246 ,  G06T7/285 ,  G06T7/579 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: A system for generating a ground truth dataset for motion planning of a vehicle is disclosed. The system includes an internet server that further includes an I/O port, configured to transmit and receive electrical signals to and from a client device; a memory; one or more processing units; and one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for: a corresponding module configured to correspond, for each pair of images, a first image of the pair to a LiDAR static-scene point cloud; and a computing module configured to compute a camera pose associated with the pair of images in the coordinate of the point cloud.

公开(公告)号：US20180357315A1

公开(公告)日：2018-12-13

申请号：US15621931

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI LUO ,  YI WANG ,  PANQU WANG ,  KE XU

IPC: G06F17/30 ,  G05D1/02 ,  G06T7/20 ,  G06T3/40

CPC classification number: G06F17/30811 ,  B60W2420/52 ,  G01S17/89 ,  G05D1/024 ,  G06T3/4007 ,  G06T7/20

Abstract: A system for generating a ground truth dataset for motion planning of a vehicle is disclosed. The system includes an internet server that further includes an I/O port, configured to transmit and receive electrical signals to and from a client device; a memory; one or more processing units; and one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for: an identifying module configured to identify, for a pair of undistorted LiDAR scans, points belonging to a static object in an environment; an aligning module configured to align close points based on pose estimates; and a transforming module configured to transform a reference scan that is close in time to a target undistorted LiDAR scan so as to align the reference scan with the target undistorted LiDAR scan.

公开(公告)号：US20180356831A1

公开(公告)日：2018-12-13

申请号：US15621937

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI LUO ,  YI WANG ,  PANQU WANG ,  KE XU

IPC: G05D1/02 ,  G06K9/62 ,  G06T7/73 ,  G01S17/89 ,  G01S17/02

CPC classification number: G05D1/0251 ,  G01S17/023 ,  G01S17/89 ,  G06K9/6202 ,  G06K9/6249 ,  G06K9/6288 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/30244

Abstract: A method of generating a ground truth dataset for motion planning of a vehicle is disclosed. The method includes: corresponding, for each pair of images, a first image of the pair to a LiDAR static-scene point cloud; and computing a camera pose associated with the pair of images in the coordinate of the point cloud.

公开(公告)号：US20180356825A1

公开(公告)日：2018-12-13

申请号：US15621918

申请日：2017-06-13

Applicant: TUSIMPLE

Inventor： YI WANG ,  YI LUO ,  WENTAO ZHU ,  PANQU WANG

IPC: G05D1/02 ,  G06T7/20 ,  G06T3/40

Abstract: A method of generating a ground truth dataset for motion planning of a vehicle is disclosed. The method includes: obtaining undistorted LiDAR scans; identifying, for a pair of undistorted LiDAR scans, points belonging to a static object in an environment; aligning the close points based on pose estimates; and transforming a reference scan that is close in time to a target undistorted LiDAR scan so as to align the reference scan with the target undistorted LiDAR scan.