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    VERIFICATION MODULE SYSTEM AND METHOD FOR MOTION-BASED LANE DETECTION WITH MULTIPLE SENSORS
    1.
    发明公开
    VERIFICATION MODULE SYSTEM AND METHOD FOR MOTION-BASED LANE DETECTION WITH MULTIPLE SENSORS 审中-公开

    公开(公告)号：US20230408284A1

    公开(公告)日：2023-12-21

    申请号：US18449340

    申请日：2023-08-14

    Applicant: TuSimple, Inc.

    Inventor： Siyuan LIU ,  Mingdong WANG ,  Xiaodi HOU

    IPC: G01C21/36 ,  G06V20/56

    CPC classification number: G01C21/3658 ,  G01S17/89 ,  G06V20/588

    Abstract: A method of lane detection 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 comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

    IMAGES FOR PERCEPTION MODULES OF AUTONOMOUS VEHICLES
    3.
    发明申请
    IMAGES FOR PERCEPTION MODULES OF AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20210256664A1

    公开(公告)日：2021-08-19

    申请号：US17308911

    申请日：2021-05-05

    Applicant: TUSIMPLE, INC.

    Inventor： Pengfei CHEN ,  Nan YU ,  Naiyan WANG ,  Xiaodi HOU

    IPC: G06T5/00 ,  B60W40/02 ,  H04N9/04

    Abstract: Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.

    CAMERA ORIENTATION ESTIMATION
    4.
    发明申请
    CAMERA ORIENTATION ESTIMATION 有权

    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

    IPC: G06T7/73 ,  G06T7/33

    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.

    SYSTEM AND METHOD FOR VEHICLE POSITION AND VELOCITY ESTIMATION BASED ON CAMERA AND LIDAR DATA
    6.
    发明申请
    SYSTEM AND METHOD FOR VEHICLE POSITION AND VELOCITY ESTIMATION BASED ON CAMERA AND LIDAR DATA 审中-公开

    公开(公告)号：US20180308250A1

    公开(公告)日：2018-10-25

    申请号：US15496113

    申请日：2017-04-25

    Applicant: TuSimple

    Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

    IPC: G06T7/73 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/02 ,  G01S17/88 ,  G06T7/246 ,  G06K9/00 ,  G08G1/04 ,  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.

    CAMERA POSE ESTIMATION TECHNIQUES
    8.
    发明公开
    CAMERA POSE ESTIMATION TECHNIQUES 审中-公开

    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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