公开(公告)号：US20200020102A1

公开(公告)日：2020-01-16

申请号：US16577753

申请日：2019-09-20

Applicant: TUSIMPLE, INC.

Inventor： Hengchen DAI ,  Naiyan WANG

IPC: G06T7/10 ,  G06F17/15 ,  G06N3/04

Abstract: The present disclosure provides a method and an apparatus for semantic segmentation of an image, capable of solving the problem in the related art associated with low speed and inefficiency in semantic segmentation of images. The method includes: receiving the image; performing semantic segmentation on the image to obtain an initial semantic segmentation result; and inputting image information containing the initial semantic segmentation result to a pre-trained convolutional neural network for semantic segmentation post-processing, so as to obtain a final semantic segmentation result. With the solutions of the present disclosure, the initial semantic segmentation result can be post-processed using the convolutional neural network, such that the speed and efficiency of the semantic segmentation of the image can be improved.

公开(公告)号：US20210225030A1

公开(公告)日：2021-07-22

申请号：US17222915

申请日：2021-04-05

Applicant: TUSIMPLE, INC.

Inventor： Hengchen DAI

IPC: G06T7/73 ,  G06K9/00 ,  G06T7/50 ,  G06K9/46

Abstract: The present disclosure provides a method and an apparatus for determining an attitude angle of a camera, capable of improving the accuracy of the attitude angle of the camera, and in turn the accuracy of the attitude of the camera that is obtained based on the attitude angle of the camera. The present disclosure can also improve the accuracy of object distance measurement and vehicle positioning based on the attitude angle of the camera. In the method for determining an attitude angle of a camera, the camera is fixed to one and the same rigid object in a vehicle along with an Inertial Measurement Unit (IMU). The method includes: obtaining IMU attitude angles outputted from the IMU and images captured by the camera; determining a target IMU attitude angle corresponding to each frame of image based on respective capturing time of the frames of images and respective outputting time of the IMU attitude angles; and determining an attitude angle of the camera corresponding to each frame of image based on a predetermined conversion relationship between a camera coordinate system for the camera and an IMU coordinate system for the IMU and the target IMU attitude angle corresponding to each frame of image.