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公开(公告)号：US20190066330A1
公开(公告)日：2019-02-28
申请号：US15684414
申请日：2017-08-23
Applicant: TUSIMPLE
Abstract: A method of localization 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 utilizing one or more autonomous vehicle driving modules that execute processing of images from a camera and data from a LiDAR the following steps comprising: aligning a 3D submap with a global map; extracting features from the 3D submap and the global map; classifying the extracted features in classes; and establishing correspondence of features in a same class between the 3D submap and the global map.
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2.发明申请公开(公告)号：US20190080166A1
公开(公告)日：2019-03-14
申请号：US15703852
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： WENTAO ZHU , YI WANG , YI LUO
Abstract: A method of visual odometry 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, causes the computing device to perform the following steps comprising: performing data alignment; obtaining data from sensors; based on the data from the sensors, performing machine learning in a visual odometry model; generating a prediction of static optical flow; generating motion parameters; and training the visual odometry model by using at least one of the prediction of static optical flow and the motion parameters.
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3.发明申请公开(公告)号：US20190079536A1
公开(公告)日：2019-03-14
申请号：US15703900
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： WENTAO ZHU , YI WANG , YI LUO
Abstract: A system for visual odometry is provided. The system includes: an internet server, comprising: 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: in response to images in pairs, generating a prediction of static scene optical flow for each pair of the images in a visual odometry model; generating a set of motion parameters for each pair of the images in the visual odometry model; training the visual odometry model by using the prediction of static scene optical flow and the motion parameters; and predicting motion between a pair of consecutive image frames by the trained visual odometry model.
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4.发明申请公开(公告)号：US20190080470A1
公开(公告)日：2019-03-14
申请号：US15703885
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： WENTAO ZHU , YI WANG , YI LUO
Abstract: A method of visual odometry for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs includes instructions, which when executed by a computing device, causes the computing device to perform the following steps comprising: performing data alignment among sensors including a LiDAR, cameras and an IMU-GPS module; collecting image data and generating point clouds; processing, in the IMU-GPS module, a pair of consecutive images in the image data to recognize pixels corresponding to a same point in the point clouds; and establishing an optical flow for visual odometry.
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5.发明申请公开(公告)号：US20190080167A1
公开(公告)日：2019-03-14
申请号：US15703863
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： WENTAO ZHU , YI WANG , YI LUO
Abstract: A system for visual odometry is disclosed. The system includes: an internet server, comprising: 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: performing data alignment; obtaining data from sensors; based on the data from the sensors, performing machine learning in a visual odometry model; generating a prediction of static optical flow; generating motion parameters; and training the visual odometry model by using at least one of the prediction of static optical flow and the motion parameters.
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Patent Agency Ranking
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
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.
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7.发明申请公开(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
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.
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8.发明申请公开(公告)号：US20190079534A1
公开(公告)日：2019-03-14
申请号：US15703879
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： WENTAO ZHU , YI WANG , YI LUO
IPC: G05D1/02 , G06K9/46 , G06K9/62 , G06T7/246 , G01C21/16 , G01C21/32 , G01S17/89 , G06N5/02 , G06N99/00
Abstract: A system for visual odometry is disclosed. The system includes: an internet server, comprising: 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: extracting representative features from a pair input images in a first convolution neural network (CNN) in a visual odometry model; merging, in a first merge module, outputs from the first CNN; decreasing feature map size in a second CNN; generating a first flow output for each layer in a first deconvolution neural network (DNN); merging, in a second merge module, outputs from the second CNN and the first DNN; generating a second flow output for each layer in a second DNN; and reducing accumulated errors in a recurrent neural network (RNN).
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9.发明申请公开(公告)号：US20190066329A1
公开(公告)日：2019-02-28
申请号：US15684339
申请日：2017-08-23
Applicant: TUSIMPLE
Abstract: A method of localization 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 from a camera and data from a LiDAR using the following steps comprising: constructing a 3D submap and a global map; extracting features from the 3D submap and the global map; matching features extracted from the 3D submap against features extracted from the global map; refining feature correspondence; and refining location of the 3D submap.
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公开(公告)号：US20190065863A1
公开(公告)日：2019-02-28
申请号：US15684389
申请日：2017-08-23
Applicant: TUSIMPLE
Abstract: A method of localization 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 from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
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