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公开(公告)号：US10762673B2
公开(公告)日：2020-09-01
申请号：US15684363
申请日：2017-08-23
Applicant: TuSimple, Inc.
IPC: G06T11/00 , G01S17/89 , G01C21/26 , G06K9/46 , G06K9/62 , G01C21/20 , G01C21/32 , G01S5/16 , G06K9/00 , G01S17/86 , G01S17/931 , G01S19/47 , G01S19/48
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: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes.
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公开(公告)号：US20200184232A1
公开(公告)日：2020-06-11
申请号：US16792129
申请日：2020-02-14
Applicant: TUSIMPLE, INC.
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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3.发明授权公开(公告)号：US10552979B2
公开(公告)日：2020-02-04
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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公开(公告)号：US10360686B2
公开(公告)日：2019-07-23
申请号：US15621945
申请日：2017-06-13
Applicant: TUSIMPLE
Inventor： Yi Wang , Yi Luo , Wentao Zhu , Panqu Wang
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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公开(公告)号：US11810322B2
公开(公告)日：2023-11-07
申请号：US17225396
申请日：2021-04-08
Applicant: TUSIMPLE, INC.
Inventor： Chenzhe Qian , Yi Luo , Ke Xu , Mingdong Wang , Xiaodi Hou
IPC: G06T7/73
CPC classification number: G06T7/74 , G06T2207/30244 , G06T2207/30256
Abstract: Techniques are described for estimating pose of a camera located on a vehicle. An exemplary method of estimating camera pose includes obtaining, from a camera located on a vehicle, an image including a lane marker on a road on which the vehicle is driven, and estimating a pose of the camera such that the pose of the camera provides a best match according to a criterion between a first position of the lane marker determined from the image and a second position of the lane marker determined from a stored map of the road.
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Patent Agency Ranking
公开(公告)号：US20220092318A1
公开(公告)日：2022-03-24
申请号：US17457885
申请日：2021-12-06
Applicant: TuSimple, Inc.
Inventor： Yi Luo , Xiaoling Han , Xue Mei
IPC: G06K9/00 , G01S17/42 , G01S17/931 , G08G1/16 , G06T7/73
Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
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公开(公告)号：US10481267B2
公开(公告)日：2019-11-19
申请号：US15621918
申请日：2017-06-13
Applicant: TUSIMPLE
Inventor： Yi Wang , Yi Luo , Wentao Zhu , Panqu Wang
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.
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公开(公告)号：US12228409B2
公开(公告)日：2025-02-18
申请号：US18539544
申请日：2023-12-14
Applicant: TUSIMPLE, INC.
IPC: G06V20/56 , G01C21/16 , G01S17/86 , G01S17/89 , G01S17/931 , G06F18/24 , G06F18/2415 , G06V10/75 , G06V10/764 , G06T17/05
Abstract: A system is disclosed including at least one memory including computer program instructions, which when executed by at least one processor, cause the system to at least generate, based on a plurality of images from a camera, a first map including a first plurality of features; generate, based on data from a light ranging sensor, a second map including a second plurality of features; and determine, based on a comparison of the first plurality of features and the second plurality of features, a position of the first map relative to the second map. A corresponding method and non-transitory computer-readable medium are also provided.
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公开(公告)号：US20230410537A1
公开(公告)日：2023-12-21
申请号：US18462244
申请日：2023-09-06
Applicant: TuSimple, Inc.
Inventor： Yi Luo , Xiaoling Han , Xue Mei
IPC: G06V20/56 , G06T7/73 , G01S17/931 , G01S17/42 , G08G1/16
CPC classification number: G06V20/588 , G06T7/73 , G01S17/931 , G01S17/42 , G08G1/167 , B60R1/002
Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
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公开(公告)号：US11151393B2
公开(公告)日：2021-10-19
申请号：US16792129
申请日：2020-02-14
Applicant: TUSIMPLE, INC.
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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