公开(公告)号：US10984540B2

公开(公告)日：2021-04-20

申请号：US16160771

申请日：2018-10-15

Applicant: TUSIMPLE, INC.

Inventor： Xue Mei ,  Chenyang Li

IPC: G06T7/246 ,  G06K9/62 ,  G06T7/11

Abstract: A method of LiDAR-based vehicle tracking for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps including taking point clusters that belong to vehicles in a single LiDAR frame as input, tracking each vehicle as a probabilistic distribution, assigning each tracked vehicle to a corresponding one of the point clusters, and recalculating the probabilistic distribution of each tracked vehicle.

公开(公告)号：US11557128B2

公开(公告)日：2023-01-17

申请号：US16752637

申请日：2020-01-25

Applicant: TuSimple, Inc.

Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

IPC: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/48 ,  G01S17/86 ,  G01S17/931 ,  G08G1/16

Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

公开(公告)号：US11928868B2

公开(公告)日：2024-03-12

申请号：US18090217

申请日：2022-12-28

Applicant: TuSimple, Inc.

Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

IPC: G06V20/58 ,  G01S7/48 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/16

CPC classification number: G06V20/58 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.