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公开(公告)号：US20250117640A1
公开(公告)日：2025-04-10
申请号：US18911400
申请日：2024-10-10
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei
IPC: G06N3/063 , G06T7/00 , G06V10/764 , G06V10/82 , G06V10/94
Abstract: A method includes obtaining multiple images captured by pixel sensors of an image sensor, analyzing, using neural network circuitry integrated in the image sensor, the multiple images for object detection, generating, for each of the multiple images using the neural network circuitry integrated in the image sensor, neural network output data related to results of the analysis of the multiple images for object detection, and transmitting, from the image sensor, the neural network output data for each of the multiple images and image data for a subset of the multiple images instead of image data of each of the multiple images.
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公开(公告)号：US12078760B2
公开(公告)日：2024-09-03
申请号：US17585825
申请日：2022-01-27
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion
IPC: G01S7/497 , G01S17/10 , G01S17/931 , G05D1/00
CPC classification number: G01S7/497 , G01S17/10 , G01S17/931 , G05D1/0231 , G05D1/0257 , G05D1/027 , G05D1/0278
Abstract: Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.
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公开(公告)号：US20240183519A1
公开(公告)日：2024-06-06
申请号：US18413494
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
CPC classification number: F21V21/30 , B60K35/00 , B60Q3/51 , G01J1/00 , B60K2360/21 , B60K2360/332
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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公开(公告)号：US20220174229A1
公开(公告)日：2022-06-02
申请号：US17651325
申请日：2022-02-16
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.
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公开(公告)号：US11343435B2
公开(公告)日：2022-05-24
申请号：US17108049
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
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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Patent Agency Ranking
公开(公告)号：US11176652B2
公开(公告)日：2021-11-16
申请号：US16376717
申请日：2019-04-05
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei
Abstract: A method includes obtaining multiple images captured by pixel sensors of an image sensor, analyzing, using neural network circuitry integrated in the image sensor, the multiple images for object detection, generating, for each of the multiple images using the neural network circuitry integrated in the image sensor, neural network output data related to results of the analysis of the multiple images for object detection, and transmitting, from the image sensor, the neural network output data for each of the multiple images and image data for a subset of the multiple images instead of image data of each of the multiple images.
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公开(公告)号：US12020412B1
公开(公告)日：2024-06-25
申请号：US17644432
申请日：2021-12-15
Applicant: Waymo LLC
Inventor： Xiaoying He , Ryan Geiss , Pieter Kapsenberg , Carl Warren Craddock , Zhinan Xu , Lucian Ion , Ajay Chandra Venkata Gummalla
IPC: G06K9/00 , G06T3/4007 , G06T5/92 , G06T5/94
CPC classification number: G06T5/92 , G06T3/4007 , G06T5/94 , G06T2207/20084 , G06T2207/20208 , G06T2207/30252
Abstract: A system is provided that includes an image sensor coupled to a vehicle, and control circuitry configured to perform operations including receiving, from the image sensor, an input stream comprising high dynamic range (HDR) image data associated with an environment of the vehicle, and processing the input stream at the vehicle by applying a global tone mapping, followed by offline image processing that can include applying a local tone mapping to the globally tone mapped images of the same input stream.
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公开(公告)号：US11962924B2
公开(公告)日：2024-04-16
申请号：US17655411
申请日：2022-03-18
Applicant: Waymo LLC
Inventor： Lucian Ion , Nirav Dharia , Vlad Cardei
IPC: H04N25/71 , H04N25/713
CPC classification number: H04N25/713
Abstract: An apparatus includes an image sensor having a plurality of pixels that form regions of interest (ROIs), analog-to-digital converter (ADC) banks, and multiplexers. Each respective multiplexer is electrically connected to (i) a corresponding ADC bank and (ii) a corresponding subset of the ROIs. The apparatus also includes control circuitry configured to obtain a full-resolution image of an environment by electrically connecting, by way of the multiplexers, each respective ADC bank to the associated respective ROI. The control circuitry is also configured to select a particular ROI based on the full-resolution image and obtain a plurality of ROI images of the particular ROI by (i) electrically connecting, to the particular ROI, a first ADC bank associated with the particular ROI and a second ADC bank associated with another ROI and (ii) digitizing pixels of the particular ROI by way of parallel operation of the first and second ADC banks.
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公开(公告)号：US11700459B2
公开(公告)日：2023-07-11
申请号：US17651325
申请日：2022-02-16
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
IPC: H04N25/443 , G06F9/50 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133 , H04N25/13
CPC classification number: H04N25/443 , G06F9/5038 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133 , H04N25/134
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.
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公开(公告)号：US20220207652A1
公开(公告)日：2022-06-30
申请号：US17138229
申请日：2020-12-30
Applicant: Waymo LLC
Inventor： Ignacio Garcia-Dorado , Damien Kelly , Xiaoying He , Jia Feng , Bartlomiej Wronski , Peyman Milanfar , Lucian Ion
Abstract: Described examples relate to an apparatus comprising one or more image sensors coupled to a vehicle and at least one processor. The at least one processor may be configured to capture, in a burst sequence using the one or more image sensors, multiple frames of an image of a scene, the multiple frames having respective, relative offsets of the image across the multiple frames and perform super-resolution computations using the captured, multiple frames of the image of the scene. The at least one processor may also be configured to accumulate, based on the super-resolution computations, color planes and combine, using the one or more processors, the accumulated color planes to create a super-resolution image of the scene.
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