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公开(公告)号：US20210398310A1
公开(公告)日：2021-12-23
申请号：US16909987
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Zehua HUANG , Yijie WANG
Abstract: Image processing techniques are described to receive bounding box information that describes a bounding box located around a detected obj ect in an image, determine one or more positions of one or more reference points on the bounding box, determine, for each reference point, 3D world coordinates of a point of intersection of the reference point and the road surface, and assign the 3D world coordinates of the one or more reference points to a location of the detected object.
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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：US20210125370A1
公开(公告)日：2021-04-29
申请号：US16663242
申请日：2019-10-24
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Lingting GE , Yiqian GAN , Xiaodi HOU
Abstract: Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.
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公开(公告)号：US20240046654A1
公开(公告)日：2024-02-08
申请号：US18489306
申请日：2023-10-18
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Siyuan LIU , Lingting GE , Zehua HUANG
CPC classification number: G06V20/56 , G06T7/30 , G05D1/0246 , G06V20/584 , G06V10/803 , G06V10/811 , B60R2300/303 , G05D2201/0213
Abstract: Devices, systems and methods for fusing scenes from real-time image feeds from on-vehicle cameras in autonomous vehicles to reduce redundancy of the information processed to enable real-time autonomous operation are described. One example of a method for improving perception in an autonomous vehicle includes receiving a plurality of cropped images, wherein each of the plurality of cropped images comprises one or more bounding boxes that correspond to one or more objects in a corresponding cropped image; identifying, based on the metadata in the plurality of cropped images, a first bounding box in a first cropped image and a second bounding box in a second cropped image, wherein the first and second bounding boxes correspond to a common object; and fusing the metadata corresponding to the common object from the first cropped image and the second cropped image to generate an output result for the common object.
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公开(公告)号：US20210403050A1
公开(公告)日：2021-12-30
申请号：US17359007
申请日：2021-06-25
Applicant: TUSIMPLE, INC.
Inventor： Yiqian GAN , Yijie WANG , Xiaodi HOU , Lingting GE
Abstract: Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.
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Patent Agency Ranking
公开(公告)号：US20240182081A1
公开(公告)日：2024-06-06
申请号：US18440738
申请日：2024-02-13
Applicant: TUSIMPLE, INC.
Inventor： Yiqian GAN , Yijie WANG , Xiaodi HOU , Lingting GE
CPC classification number: B60W60/0027 , G06T3/40 , G06T7/62 , G06T7/73 , G06V20/58 , G08G1/165 , G08G1/166 , B60W2420/403 , B60W2554/20 , B60W2554/4042 , B60W2554/4043 , B60W2554/4044 , G06T2207/30261
Abstract: Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.
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公开(公告)号：US20230399006A1
公开(公告)日：2023-12-14
申请号：US18363541
申请日：2023-08-01
Applicant: TUSIMPLE, INC. , Beijing Tusen Zhitu Technology Co., Ltd.
Inventor： Lingting GE , Yijie WANG , Yiqian GAN , Jianan HAO , Xiaodi HOU
IPC: B60W50/14 , G06T7/73 , G01S17/931 , B60W10/20 , G01S7/00 , G01S17/89 , G05D1/00 , G05D1/02 , G06V10/774 , G06V10/776 , G06V10/80 , G06V20/56 , G06V20/64
CPC classification number: B60W50/14 , G06T7/74 , G01S17/931 , B60W10/20 , G01S7/003 , G01S17/89 , G05D1/0094 , G05D1/0248 , G06V10/774 , G06V10/776 , G06V10/806 , G06V20/56 , G06V20/647 , B60W2420/42 , B60W2420/52 , G06T2207/30244 , G06T2210/12
Abstract: Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.
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公开(公告)号：US20230334696A1
公开(公告)日：2023-10-19
申请号：US18339940
申请日：2023-06-22
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Lingting GE , Yiqian GAN , Xiaodi HOU
CPC classification number: G06T7/74 , G06T7/337 , G06T2207/30184 , G06T2207/30252
Abstract: Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.
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公开(公告)号：US20220076446A1
公开(公告)日：2022-03-10
申请号：US17531447
申请日：2021-11-19
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Lingting GE , Yiqian GAN , Xiaodi HOU
Abstract: Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.
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公开(公告)号：US20210181351A1
公开(公告)日：2021-06-17
申请号：US16813180
申请日：2020-03-09
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Yijie WANG , Yiqian GAN , Jianan HAO , Xiaodi HOU
Abstract: Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.
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