Patents by Inventor Teng Ma

Teng Ma has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11073601
    Abstract: Embodiments of the disclosure provide systems and methods for positioning a vehicle. The system includes a communication interface configured to receive a point cloud with respect to a scene captured by a sensor equipped on the vehicle. The system further includes a storage configured to store the point cloud and a high definition map. The system also includes a processor. The processor is configured to create a first 3-D representation of the point cloud and create a second 3-D representation of the high definition map with respect to the scene. The processor is further configured to determine pose information of the vehicle by comparing the first 3-D representation and the second 3-D representation. The processor determines a position of the vehicle based on the pose information.
    Type: Grant
    Filed: December 25, 2018
    Date of Patent: July 27, 2021
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Xing Nian, Lu Feng, Teng Ma
  • Patent number: 11061122
    Abstract: Embodiments of the disclosure provide methods and systems for acquiring map data. The system may include a mounting structure configured to adjustably mount a sensor to a vehicle. The sensor may be configured to capture data indicative of at least one surrounding object as the vehicle travels along a path. The system may further include a controller configured to dynamically determine a mounting angle based on the captured data, and cause the mounting structure to adjust the sensor according to the dynamically determined mounting angle.
    Type: Grant
    Filed: December 29, 2018
    Date of Patent: July 13, 2021
    Assignee: Beijing DiDi Infinity Technology and Development Co., Ltd.
    Inventor: Teng Ma
  • Patent number: 11035958
    Abstract: Embodiments of the disclosure provide systems and methods for correcting a high-definition map. The system may include a communication interface configured to receive point cloud data of a scene captured by a LiDAR. The system may further include a storage configured to store the point cloud data, and at least one processor. The at least one processor may be configured to detect at least one obstructing object from the point cloud data, and position at least one hole in the point cloud data caused by the at least one obstructing object. The at least one processor is further configured to estimate non-obstructed point cloud data for the at least one hole as if the scene was captured without the at least one obstructing object, and correct the high-definition map by repairing the received point cloud data with the non-obstructed point cloud data.
    Type: Grant
    Filed: December 28, 2018
    Date of Patent: June 15, 2021
    Assignee: BEJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Lu Feng, Teng Ma
  • Patent number: 11038580
    Abstract: Various embodiments provide a method for determining polarization information and a device thereof. In those embodiments, a first polarization information set sent by a transmitting device can be received by the receiving device. The first polarization information set includes at least one piece of first polarization information. A quality set comprising at least one quality of a received signal can be determined by the receiving device. The first polarization information corresponds to a quality of the received signal in the quality set, and the received signal is sent by the transmitting device to the receiving device through a non-line-of-sight channel. An optimal quality in the quality set can be determined by the receiving device. The optimal quality has a minimum degradation degree of the received signal in the quality set. The receiving device can then send the first polarization information corresponding to the optimal quality to the transmitting device.
    Type: Grant
    Filed: August 26, 2020
    Date of Patent: June 15, 2021
    Assignee: HUAWEI TECHNOLOGIES CO., LTD.
    Inventors: Teng Ma, Kun Li, Yi Chen
  • Patent number: 10996337
    Abstract: Embodiments of the disclosure provide systems and methods for updating an HD map. The system may include a communication interface configured to receive sensor data acquired of a target region by at least one sensor equipped on a vehicle as the vehicle travels along a trajectory via a network. The system may further include a storage configured to store the HD map. The system may also include at least one processor. The at least one processor may be configured to identify a plurality of data frames associated with a landmark, each data frame corresponding to one of a plurality of local HD map on the trajectory. The at least one processor may be further configured to jointly optimize pose information of the plurality of local HD maps and pose information of the landmark. The at least one processor may be further configured to construct the HD map based on the based on the pose information of the plurality of local HD maps.
    Type: Grant
    Filed: July 14, 2020
    Date of Patent: May 4, 2021
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Teng Ma, Sheng Yang, Xiaoling Zhu
  • Patent number: 10996072
    Abstract: Embodiments of the disclosure provide methods and systems for updating a HD map using a plurality of point cloud data frames. The method may include receiving, by a communication interface, a first data frame of a target region acquired by at least one sensor. The method may further include constructing, by at least one processor, a local HD map based on the first data frame. The method may also include receiving, by the communication interface, a second data frame of the target region acquired by the at least one sensor. The method may also include updating, by the at least one processor, the local HD map using the second data frame based on relative location and pose information associated with the second data frame relative to the local HD map, and updating, by the at least one processor the HD map based on the updated local HD map.
    Type: Grant
    Filed: July 29, 2020
    Date of Patent: May 4, 2021
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Teng Ma, Xiaoling Zhu
  • Publication number: 20210110172
    Abstract: Embodiments of the disclosure provide systems and methods for identifying a curb based on 3-D sensor data. The system includes a communication interface configured to receive the 3-D sensor data captured of a scene by a sensor equipped on the vehicle as the vehicle travels along a trajectory. The system further includes a storage configured to store the 3-D sensor data. The system also includes at least one processor. The at least one processor is configured to create a 2-D mesh representation of the 3-D sensor data. The at least one processor is further configured to segment the 2-D mesh representation into a plurality of surfaces. The at least one processor is further configured to identify boundary mesh cells connecting each pair of adjacent surfaces wherein an altitude difference between the pair of adjacent surfaces is higher than a threshold and select mesh cells that align with a direction of the trajectory as corresponding to the curb.
    Type: Application
    Filed: December 22, 2020
    Publication date: April 15, 2021
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Xing NIAN, Jingnan LIU, Lu FENG, Teng MA
  • Patent number: 10937231
    Abstract: Embodiments of the disclosure provide systems and methods for updating a high-resolution map. The system may include a communication interface configured to receive a plurality of image frames captured by a binocular camera equipped on a vehicle, as the vehicle travels along a trajectory. The system may further include a storage configured to store the high-resolution map and the plurality of image frames. The system may also include at least one processor. The at least one processor may be configured to generate point cloud frames based on the respective image frames. The at least one processor may be further configured to position the vehicle using the point cloud frames. The at least one processor may be further configured to merge the point cloud frames based on the vehicle positions. The at least one processor may also be configured to update a portion of the high-resolution map based on the merged point cloud.
    Type: Grant
    Filed: December 11, 2018
    Date of Patent: March 2, 2021
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Sheng Yang, Teng Ma, Xiaozhi Qu
  • Publication number: 20210019535
    Abstract: The present disclosure provides a method for pose determination. The method may include obtaining a first pose of a subject at a first time point. The method may further include retrieving one or more first features associated with a road from a database. The road may be viewable by the subject at the first pose and at the first time point. The method may further include obtaining an image captured by the subject at a second time point. The method may further include extracting one or more second features associated with the road from the image. The method may also include determining a second pose of the subject at the second time point at least based on comparing the one or more first features associated with the road with the one or more second features associated with the road.
    Type: Application
    Filed: September 30, 2020
    Publication date: January 21, 2021
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Xiaozhi QU, Lu FENG, Teng MA, Baoli LI
  • Patent number: 10896539
    Abstract: Embodiments of the disclosure provide methods and systems for updating a HAD map using a plurality of terminals. The system may include a communication interface configured to communicate with the plurality of terminals via a network. The system may further include a storage configured to store the HAD map. The system may also include at least one processor. The at least one processor may be configured to identify a target region including at least one changing object. The at least one processor may be further configured to instruct the plurality of terminals to acquire data of the target region at varying view positions, and receive the acquired data from the plurality of terminals. The at least one processor may be further configured to construct a three-dimensional model for the at least one changing object from the acquired data, and update the HAD map based on the three-dimensional model.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: January 19, 2021
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Teng Ma, Xiaozhi Qu, Baoli Li
  • Publication number: 20210009932
    Abstract: The subject invention concerns materials and methods for culture of cell aggregates. The subject invention utilizes three-dimensional (3-D) inserts comprising micro-channels having selected dimensions. The inserts are provided in or on tissue culture plates that can be supported on a programmable rocking platform/station, thereby providing for a hydrodynamic environment that promotes 3-D aggregation of cells cultured on the plates. The supporting rocker is programmed to provide motion that generates hydrodynamic conditions that support 3-D cell aggregation and long-term culture. The subject invention also concerns an apparatus comprising a tissue culture vessel that comprises a 3-D insert of the present invention, and a programmable rocking platform/station that can provide motion to the vessel provided thereon, thereby generating hydrodynamic conditions and wave motion that support 3-D cell aggregation and cell culture. The subject invention also concerns methods for growing 3-D aggregates of cells.
    Type: Application
    Filed: September 21, 2020
    Publication date: January 14, 2021
    Inventors: TENG MA, ANG-CHEN TSAI, XUEGANG YUAN
  • Publication number: 20200395997
    Abstract: Various embodiments provide a method for determining polarization information and a device thereof. In those embodiments, a first polarization information set sent by a transmitting device can be received by the receiving device. The first polarization information set includes at least one piece of first polarization information. A quality set comprising at least one quality of a received signal can be determined by the receiving device. The first polarization information corresponds to a quality of the received signal in the quality set, and the received signal is sent by the transmitting device to the receiving device through a non-line-of-sight channel. An optimal quality in the quality set can be determined by the receiving device. The optimal quality has a minimum degradation degree of the received signal in the quality set. The receiving device can then send the first polarization information corresponding to the optimal quality to the transmitting device.
    Type: Application
    Filed: August 26, 2020
    Publication date: December 17, 2020
    Inventors: Teng MA, Kun LI, Yi CHEN
  • Patent number: 10860871
    Abstract: Embodiments of the disclosure provide methods and systems for calibrating a plurality of sensors. The method may include capturing, by a plurality of sensors associated with a vehicle, a set of point cloud data indicative of at least one surrounding object as the vehicle travels along a trajectory. The method may also include filtering, by a processor, the set of point cloud data based on coplanarity associated with the set of point cloud data. The method may further include adjusting, by the processor, at least one calibration parameter of the plurality of sensors based on a model using the filtered set of point cloud data. The model may include a weight corresponding to the coplanarity associated with the set of point cloud data.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: December 8, 2020
    Assignee: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Xiaoling Zhu, Teng Ma
  • Publication number: 20200355513
    Abstract: Embodiments of the disclosure provide methods and systems for updating a HD map using a plurality of point cloud data frames. The method may include receiving, by a communication interface, a first data frame of a target region acquired by at least one sensor. The method may further include constructing, by at least one processor, a local HD map based on the first data frame. The method may also include receiving, by the communication interface, a second data frame of the target region acquired by the at least one sensor. The method may also include updating, by the at least one processor, the local HD map using the second data frame based on relative location and pose information associated with the second data frame relative to the local HD map, and updating, by the at least one processor the HD map based on the updated local HD map.
    Type: Application
    Filed: July 29, 2020
    Publication date: November 12, 2020
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Teng MA, Xiaoling ZHU
  • Publication number: 20200341150
    Abstract: Embodiments of the disclosure provide systems and methods for updating an HD map. The system may include a communication interface configured to receive sensor data acquired of a target region by at least one sensor equipped on a vehicle as the vehicle travels along a trajectory via a network. The system may further include a storage configured to store the HD map. The system may also include at least one processor. The at least one processor may be configured to identify a plurality of data frames associated with a landmark, each data frame corresponding to one of a plurality of local HD map on the trajectory. The at least one processor may be further configured to jointly optimize pose information of the plurality of local HD maps and pose information of the landmark. The at least one processor may be further configured to construct the HD map based on the based on the pose information of the plurality of local HD maps.
    Type: Application
    Filed: July 14, 2020
    Publication date: October 29, 2020
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Teng MA, Sheng YANG, Xiaoling ZHU
  • Publication number: 20200299642
    Abstract: Improved hybrid neurovascular spheroids and methods for making the same are provided. In some embodiments of a method for making a hybrid neurovascular spheroid, the method includes i) propagating cortical cells to form a cortical spheroid; ii) propagating endothelial cells to form an endothelial spheroid; iii) propagating mesenchymal stem cells to form a mesenchymal cell culture; and iv) combining the cortical spheroid, endothelial spheroid, and mesenchymal spheroid under conditions to form the hybrid neurovascular spheroid.
    Type: Application
    Filed: March 17, 2020
    Publication date: September 24, 2020
    Inventors: Yan Li, Teng Ma
  • Publication number: 20200263137
    Abstract: The subject invention concerns novel and translatable materials and methods for expansion of stem cells, such as mesenchymal stem cells (MSC), that significantly improve translational success of the cells in the treatment of various conditions, such as stroke. The subject invention utilizes cell self-aggregation as a non-genetic means to enhance their therapeutic potency in a microcarrier bioreactor. The subject invention integrates a cell aggregation process in a scalable bioreactor system. In one embodiment of the method, thermally responsive microcarriers (TRMs) are utilized in conjunction with a bioreactor system. Cells are cultured in a container or vessel in the presence of the TRMs wherein cells adhere to the surface of the TRMs. Once cells are adhered to the TRMs they can be cultured at a suitable temperature for cell growth and expansion, e.g., at about 37° C.
    Type: Application
    Filed: April 6, 2020
    Publication date: August 20, 2020
    Inventor: TENG MA
  • Patent number: 10677609
    Abstract: Disclosed is a method and device for providing guidance to a street view destination. The method includes: acquiring a real scenario image of a scenario in which a device is located; determining, according to a current location and a device facing direction of the device, annotated information needing to be displayed; displaying, in the real scenario image, the annotated information needing to be displayed; determining selected annotated information; and displaying detailed information of a street view corresponding to the selected annotated information.
    Type: Grant
    Filed: December 29, 2017
    Date of Patent: June 9, 2020
    Assignee: Tencent Technology (Shenzhen) Company Limited
    Inventor: Teng Ma
  • Publication number: 20200158875
    Abstract: Embodiments of the disclosure provide systems and methods for correcting a high-definition map. The system may include a communication interface configured to receive point cloud data of a scene captured by a LiDAR. The system may further include a storage configured to store the point cloud data, and at least one processor. The at least one processor may be configured to detect at least one obstructing object from the point cloud data, and position at least one hole in the point cloud data caused by the at least one obstructing object. The at least one processor is further configured to estimate non-obstructed point cloud data for the at least one hole as if the scene was captured without the at least one obstructing object, and correct the high-definition map by repairing the received point cloud data with the non-obstructed point cloud data.
    Type: Application
    Filed: December 28, 2018
    Publication date: May 21, 2020
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT C O., LTD.
    Inventors: Lu FENG, Teng MA
  • Publication number: 20200150275
    Abstract: Embodiments of the disclosure provide methods and systems for generating a color point cloud. The method may include receiving a point cloud and a plurality of images with respect to a scene captured by a plurality of sensors associated with a vehicle as the vehicle moves along a trajectory. The method may include segmenting the point cloud into a plurality of segments each associated with a start point and an end point on the trajectory of the vehicle. The method may also include associating each segment of the point cloud with one or more of the images based on the start point and the end point. The method may further include generating color point cloud by aggregating each segment of the point cloud and the one or more of the images based on calibration parameter in different distances between the segment of the point cloud and the vehicle.
    Type: Application
    Filed: December 25, 2018
    Publication date: May 14, 2020
    Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.
    Inventors: Xiaoling ZHU, Teng MA, Lu FENG