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公开(公告)号：US20240353265A1
公开(公告)日：2024-10-24
申请号：US18760933
申请日：2024-07-01
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Zachary Morriss
CPC classification number: G01J5/59 , G01J4/00 , G01J5/0025 , G01J2005/0077
Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.
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公开(公告)号：US11665450B2
公开(公告)日：2023-05-30
申请号：US17570811
申请日：2022-01-07
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
CPC classification number: H04N25/745 , G01S17/86 , G06T5/50 , H04N25/42 , H04N25/44 , H04N25/63 , H04N25/75 , G06T2207/20224
Abstract: This disclosure describes devices, systems, and methods that relate to obtaining image frames with variable resolutions in synchronization with a clock source. An example device may include an image sensor, a clock input, and a controller. The controller includes at least one processor and a memory. The at least one processor is operable to execute program instructions stored in the memory so as to carry out operations. The operations include receiving, by the clock input, a clock signal. The clock signal is a periodic signal defining at least one scan interval. The operations also include during the scan interval, causing the image sensor to capture a full resolution image frame. The operations yet further include during the scan interval, causing the image sensor to capture at least one reduced resolution image frame.
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公开(公告)号：US11457204B1
公开(公告)日：2022-09-27
申请号：US17091147
申请日：2020-11-06
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N5/225 , H04N17/00 , B60S1/04 , B60S1/46 , B60S1/54 , G06T5/00 , G01N21/94 , G01S17/931 , G01S7/481 , H04N5/232
Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.
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公开(公告)号：US20230269484A1
公开(公告)日：2023-08-24
申请号：US18308390
申请日：2023-04-27
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
Abstract: Example embodiments relate to microlensing for real-time sensing of stray light. An example device includes an image sensor that includes a plurality of light-sensitive pixels. The device also includes a first lens positioned over a first subset of light-sensitive pixels selected from the plurality of light-sensitive pixels. Further, the device includes a controller. The controller is configured to determine a first angle of incidence of a first light signal detected by the first subset of light-sensitive pixels. The controller is also configured to, based on the first determined angle of incidence, determine an amount of stray light incident on the image sensor.
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公开(公告)号：US11706507B2
公开(公告)日：2023-07-18
申请号：US17550255
申请日：2021-12-14
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/60 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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Patent Agency Ranking
公开(公告)号：US11678059B2
公开(公告)日：2023-06-13
申请号：US17659922
申请日：2022-04-20
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
Abstract: Example embodiments relate to microlensing for real-time sensing of stray light. An example device includes an image sensor that includes a plurality of light-sensitive pixels. The device also includes a first lens positioned over a first subset of light-sensitive pixels selected from the plurality of light-sensitive pixels. Further, the device includes a controller. The controller is configured to determine a first angle of incidence of a first light signal detected by the first subset of light-sensitive pixels. The controller is also configured to, based on the first determined angle of incidence, determine an amount of stray light incident on the image sensor.
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公开(公告)号：US11647287B1
公开(公告)日：2023-05-09
申请号：US16701978
申请日：2019-12-03
Applicant: Waymo LLC
Inventor： Matthew Last , Benjamin Frevert , Matthew Rinehart , Shashank Sharma
CPC classification number: H04N23/67 , B60R11/04 , G01S7/4816 , G02B7/09
Abstract: The present disclosure relates to systems, vehicles, and methods that include adjusting a position of an image sensor with respect to a lens assembly. An example optical system includes a lens assembly having at least one lens. The at least one lens defines an optical axis, a focal distance, and a focal plane. The optical system also includes a lens holder coupled to the lens assembly and a substrate having a first surface. The optical system additionally includes an image sensor attached to the first surface of the substrate. Furthermore, the optical system includes an active compensation system having a piezoelectric structure coupled between the lens holder and the first surface of the substrate. The active compensation system is configured to maintain the image sensor at the focal plane over a predetermined temperature range.
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公开(公告)号：US12126881B2
公开(公告)日：2024-10-22
申请号：US18323685
申请日：2023-05-25
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/60 , H04N23/62 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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公开(公告)号：US12055442B2
公开(公告)日：2024-08-06
申请号：US17754930
申请日：2019-10-16
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Zachary Morriss
CPC classification number: G01J5/59 , G01J4/00 , G01J5/0025 , G01J2005/0077
Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.
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10.发明公开公开(公告)号：US20230262358A1
公开(公告)日：2023-08-17
申请号：US18304898
申请日：2023-04-21
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
CPC classification number: H04N25/745 , G06T5/50 , G01S17/86 , H04N25/42 , H04N25/44 , H04N25/63 , H04N25/75 , G06T2207/20224
Abstract: This disclosure describes devices, systems, and methods that relate to obtaining image frames with variable resolutions in synchronization with a clock source. An example device may include an image sensor, a clock input, and a controller. The controller includes at least one processor and a memory. The at least one processor is operable to execute program instructions stored in the memory so as to carry out operations. The operations include receiving, by the clock input, a clock signal. The clock signal is a periodic signal defining at least one scan interval. The operations also include during the scan interval, causing the image sensor to capture a full resolution image frame. The operations yet further include during the scan interval, causing the image sensor to capture at least one reduced resolution image frame.
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