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公开(公告)号：US20210067719A1
公开(公告)日：2021-03-04
申请号：US17096472
申请日：2020-11-12
Applicant: X Development LLC
Inventor： Emily Cooper , Fengqiang Li
IPC: H04N5/355 , H04N5/235 , H04N13/243
Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.
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公开(公告)号：US20190199902A1
公开(公告)日：2019-06-27
申请号：US15851901
申请日：2017-12-22
Applicant: X Development LLC
Inventor： Emily Cooper , Chad Talbott
IPC: H04N5/235
CPC classification number: H04N5/2352 , H04N5/2353 , H04N5/2356 , H04N5/243 , Y10S901/47
Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.
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公开(公告)号：US10038854B1
公开(公告)日：2018-07-31
申请号：US14924687
申请日：2015-10-27
Applicant: X Development LLC
Inventor： Emily Cooper , Xiaoyu Miao
CPC classification number: H04N5/2354 , B25J13/084 , G08B6/00 , H01L27/146 , H01L27/1462 , H01L27/14621 , H01L27/14627 , H01L27/14678 , H04N5/2254 , H04N5/2256 , H04N9/045
Abstract: An example device for reducing the size and color cross-talk of an imaging-based tactile sensor includes an elastic material, one or more light sources, and an image capture device. The elastic material includes a reflective membrane. The reflective membrane conforms to a shape of an object pressed against the elastic material. Each light source of the one or more light sources is configured to illuminate at least a portion of the reflective membrane. The image capture device is configured to capture at least one image of the reflective membrane. The image capture device includes (i) an image sensor configured to generate the at least one image based on light incident on the image sensor and (ii) a plurality of lenses configured to direct light onto the image sensor. Each lens of the plurality of lenses is configured to direct light onto a corresponding portion of the image sensor.
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公开(公告)号：US20170363464A1
公开(公告)日：2017-12-21
申请号：US15187445
申请日：2016-06-20
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
CPC classification number: G01L5/16 , B25J13/085 , G01B11/026 , G01B11/14 , G01B11/26 , G01D5/30 , G01J1/04 , G01J1/4228 , G01L1/24 , G01L3/08 , G01L5/0038 , G01L5/0042 , G01L5/009 , G01L5/166
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
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公开(公告)号：US11470259B2
公开(公告)日：2022-10-11
申请号：US17448481
申请日：2021-09-22
Applicant: X Development LLC
Inventor： Emily Cooper , Chad Talbott
Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.
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Patent Agency Ranking
公开(公告)号：US20220159233A1
公开(公告)日：2022-05-19
申请号：US17591353
申请日：2022-02-02
Applicant: X Development LLC
Inventor： Emily Cooper , Fengqiang Li
Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.
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公开(公告)号：US11277601B2
公开(公告)日：2022-03-15
申请号：US17096472
申请日：2020-11-12
Applicant: X Development LLC
Inventor： Emily Cooper , Fengqiang Li
Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.
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公开(公告)号：US10863118B1
公开(公告)日：2020-12-08
申请号：US16376373
申请日：2019-04-05
Applicant: X Development LLC
Inventor： Emily Cooper , Fengqiang Li
IPC: H04N5/355 , H04N13/243 , H04N5/235
Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.
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公开(公告)号：US10592552B1
公开(公告)日：2020-03-17
申请号：US16374836
申请日：2019-04-04
Applicant: X Development LLC
Inventor： Emily Cooper , David Deephanphongs , Yuanzheng Gong , Thomas Buschmann , Matthieu Guilbert
Abstract: Methods, apparatus, systems, and computer-readable media for assigning a real-time clock domain timestamp to sensor frames from a sensor component that operates in a non-real-time time-domain. In some implementations, a real-time component receives capture instances that each indicate capturing of a corresponding sensor data frame by the sensor component. In response to a capture output instance, the real-time component or an additional real-time component assigns a real-time timestamp to the capture output instance, where the real-time timestamp is based on the real-time clock domain. Separately, a non-real-time component receives the corresponding sensor data frames captured by the sensor component, along with corresponding metadata. For each sensor data frame, it is determined whether there is a real-time timestamp that corresponds to the data frame and, if so, the real-time timestamp is assigned to the sensor data frame.
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公开(公告)号：US10296602B1
公开(公告)日：2019-05-21
申请号：US15490711
申请日：2017-04-18
Applicant: X Development LLC
Inventor： Emily Cooper , Matthieu Guilbert , Thomas Buschmann , David Deephanphongs , Yuanzheng Gong
Abstract: Methods, apparatus, systems, and computer-readable media for assigning a real-time clock domain timestamp to sensor frames from a sensor component that operates in a non-real-time time-domain. In some implementations, a real-time component receives capture instances that each indicate capturing of a corresponding sensor data frame by the sensor component. In response to a capture output instance, the real-time component or an additional real-time component assigns a real-time timestamp to the capture output instance, where the real-time timestamp is based on the real-time clock domain. Separately, a non-real-time component receives the corresponding sensor data frames captured by the sensor component, along with corresponding metadata. For each sensor data frame, it is determined whether there is a real-time timestamp that corresponds to the data frame and, if so, the real-time timestamp is assigned to the sensor data frame.
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