公开(公告)号：US20250029274A1

公开(公告)日：2025-01-23

申请号：US18488657

申请日：2023-10-17

Applicant: TuSimple, Inc.

Inventor： Yizhe ZHAO ,  Zhe CHEN ,  Ye FAN ,  Lingting GE ,  Zhe HUANG ,  Panqu WANG ,  Xue MEI

IPC: G06T7/73 ,  G06V20/58

Abstract: The present disclosure provides methods and systems of sampling-based object pose determination. An example method includes obtaining, for a time frame, sensor data of the object acquired by a plurality of sensors; generating a two-dimensional bounding box of the object in a projection plane based on the sensor data of the time frame; generating a three-dimensional pose model of the object based on the sensor data of the time frame and a model reconstruction algorithm; generating, based on the sensor data, the pose model, and multiple sampling techniques, a plurality of pose hypotheses of the object corresponding to the time frame, generating a hypothesis projection of the object for each of the pose hypotheses by projecting the pose hypothesis onto the projection plane; determining evaluation results by comparing the hypothesis projections with the bounding box; and determining, based on the evaluation results, an object pose for the time frame.