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    Image fusion for autonomous vehicle operation
    1.
    发明授权
    Image fusion for autonomous vehicle operation 有权

    公开(公告)号：US11823460B2

    公开(公告)日：2023-11-21

    申请号：US16442182

    申请日：2019-06-14

    Applicant: TUSIMPLE, INC.

    Inventor： Yijie Wang ,  Siyuan Liu ,  Lingting Ge ,  Zehua Huang

    IPC: G06V20/56 ,  G06T7/30 ,  B60R1/00 ,  G05D1/02 ,  G06V20/58 ,  G06V10/80

    CPC classification number: G06V20/56 ,  B60R1/00 ,  G05D1/0246 ,  G06T7/30 ,  G06V10/803 ,  G06V10/811 ,  G06V20/584 ,  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.

    Camera orientation estimation
    4.
    发明授权
    Camera orientation estimation 有权

    公开(公告)号：US11189051B2

    公开(公告)日：2021-11-30

    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.

    Camera orientation estimation
    5.
    发明授权
    Camera orientation estimation 有权

    公开(公告)号：US12131499B2

    公开(公告)日：2024-10-29

    申请号：US18339940

    申请日：2023-06-22

    Applicant: TUSIMPLE, INC.

    Inventor： Yijie Wang ,  Lingting Ge ,  Yiqian Gan ,  Xiaodi Hou

    IPC: G06T7/73 ,  G06T7/33

    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.

    Camera orientation estimation
    7.
    发明授权
    Camera orientation estimation 有权

    公开(公告)号：US11721038B2

    公开(公告)日：2023-08-08

    申请号：US17531447

    申请日：2021-11-19

    Applicant: TUSIMPLE, INC.

    Inventor： Yijie Wang ,  Lingting Ge ,  Yiqian Gan ,  Xiaodi Hou

    IPC: G06T7/73 ,  G06T7/33

    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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