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公开(公告)号：US20210397867A1
公开(公告)日：2021-12-23
申请号：US16909962
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Chenzhe QIAN , Yijie WANG , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to select and crop a region of interest from an image obtained from a camera located on or in a vehicle, such as an autonomous semi-trailer truck. The region of interest can be identified by selecting one or more reference points and determining one or more positions of the one or more reference points on the image obtained from the camera. As an example, a location of two reference points may be 500 meters and 1000 meters in front of a location of autonomous vehicle, where the front of the autonomous vehicle is an area towards which the autonomous vehicle is being driven.
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公开(公告)号：US20240241515A1
公开(公告)日：2024-07-18
申请号：US18621904
申请日：2024-03-29
Applicant: TUSIMPLE, INC.
Inventor： Chenzhe QIAN , Chenghao GONG , Fuheng DENG
IPC: G05D1/00 , G01C25/00 , G01S7/497 , G01S13/86 , G01S17/931
CPC classification number: G05D1/0011 , G01C25/005 , G01S7/497 , G01S13/865 , G01S17/931
Abstract: Technique for performing multi-sensor collaborative calibration on a vehicle is disclosed. A method includes obtaining, from at least two sensors located on a vehicle, sensor data items of an area that comprises a plurality of calibration objects; determining, from the sensor data items, attributes of the plurality of calibration objects; determining, for the at least two sensors, an initial matrix that describes a first set of extrinsic parameters between the at least two sensors based at least on the attributes of the plurality of calibration objects; determining an updated matrix that describes a second set of extrinsic parameters between the at least two sensors based at least on the initial matrix and a location of at least one calibration object; and performing autonomous operation of the vehicle using the second set of extrinsic parameters and additional sensor data received from the at least two sensors.
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公开(公告)号：US20210319584A1
公开(公告)日：2021-10-14
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
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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公开(公告)号：US20230410363A1
公开(公告)日：2023-12-21
申请号：US18461625
申请日：2023-09-06
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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公开(公告)号：US20230408264A1
公开(公告)日：2023-12-21
申请号：US18456015
申请日：2023-08-25
Applicant: TuSimple, Inc.
Inventor： Mingdong WANG , Chenzhe QIAN , Xue MEI
IPC: G01C21/30
CPC classification number: G01C21/30
Abstract: Various embodiments provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.
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Patent Agency Ranking
公开(公告)号：US20220155776A1
公开(公告)日：2022-05-19
申请号：US16953089
申请日：2020-11-19
Applicant: TUSIMPLE, INC.
Inventor： Chenzhe QIAN , Chenghao GONG , Fuheng DENG
IPC: G05D1/00 , G01C25/00 , G01S17/931 , G01S7/497 , G01S13/86
Abstract: Technique for performing multi-sensor collaborative calibration on a vehicle is disclosed. A method includes obtaining, from at least two sensors located on a vehicle, sensor data items of an area that comprises a plurality of calibration objects; determining, from the sensor data items, attributes of the plurality of calibration objects; determining, for the at least two sensors, an initial matrix that describes a first set of extrinsic parameters between the at least two sensors based at least on the attributes of the plurality of calibration objects; determining an updated matrix that describes a second set of extrinsic parameters between the at least two sensors based at least on the initial matrix and a location of at least one calibration object; and performing autonomous operation of the vehicle using the second set of extrinsic parameters and additional sensor data received from the at least two sensors.
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公开(公告)号：US20250014305A1
公开(公告)日：2025-01-09
申请号：US18891113
申请日：2024-09-20
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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公开(公告)号：US20240095960A1
公开(公告)日：2024-03-21
申请号：US18512205
申请日：2023-11-17
Applicant: TUSIMPLE, INC.
Inventor： Chenzhe QIAN , Ji ZHAO , Zhibei MA
CPC classification number: G06T7/80 , G01S17/89 , G06T3/0068 , G06T7/521 , G06V20/588 , H04N23/00 , G06T2207/30204 , G06T2207/30256
Abstract: Techniques for performing multi-sensor calibration on a vehicle are described. A method includes obtaining, from each of at least two sensors located on a vehicle, sensor data item of a road comprising a lane marker, extracting, from each sensor data item, a location information of the lane marker, and calculating extrinsic parameters of the at least two sensors based on determining a difference between the location information of the lane marker from each sensor data item and a previously stored location information of the lane marker.
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公开(公告)号：US20230326168A1
公开(公告)日：2023-10-12
申请号：US18335785
申请日：2023-06-15
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
CPC classification number: G06V10/25 , G06T7/11 , G06T7/70 , G06T11/20 , B60W60/0025 , G06V20/584 , G06V20/58 , G06V10/82 , B60W2554/00 , G06T2207/20132 , G06T2210/12 , G06T2207/30252 , G06T2207/30236 , B60W2420/42
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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公开(公告)号：US20210397857A1
公开(公告)日：2021-12-23
申请号：US16909950
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Siyuan LIU , Lingting GE , Chenzhe QIAN , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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