公开(公告)号：US20210319584A1

公开(公告)日：2021-10-14

申请号：US17225396

申请日：2021-04-08

Applicant: TUSIMPLE, INC.

Inventor： Chenzhe QIAN ,  Yi LUO ,  Ke XU ,  Mingdong WANG ,  Xiaodi HOU

IPC: G06T7/73

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.

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

IPC: G01S17/931 ,  G01S17/89 ,  G01S7/00 ,  B60W10/20 ,  G05D1/02 ,  G05D1/00 ,  G06T7/73

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.