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公开(公告)号：US11886637B2
公开(公告)日：2024-01-30
申请号：US18080148
申请日：2022-12-13
CPC分类号： G06F3/013 , G06T15/205 , G06T19/006 , G06V20/20 , G06T2215/06
摘要： A method and system for rendering an augmented reality scene on a mobile computing device tracks a real-world scene and/or a viewpoint of a user with one or more event-based vision sensors and blends an augmented reality scene displayed on the mobile computing device based on the viewpoint of the user and a scene map of the real-world scene and on the tracking of the one or more event-based vision sensors. Event-based vision sensors offer many advantages, mainly by intrinsically compressing the data stream and thus reducing the amount of data that a processing unit needs to perform. Furthermore, the event-based vision sensor pixels continuously sense the visual changes in the scene and report them with a very low latency. This makes the event-based vision sensor an ideal sensor for always-on tasks such as visual tracking and smart sensor control or data enhancement of secondary sensing modalities.
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公开(公告)号：US20220272296A1
公开(公告)日：2022-08-25
申请号：US17629488
申请日：2020-09-01
发明人： Raphael Berner
IPC分类号： H04N5/3745 , H04N5/351 , H04N5/378
摘要： An event based pixel sensor system employing delay equalization between differently illuminated pixels.
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公开(公告)号：US11363218B2
公开(公告)日：2022-06-14
申请号：US17125587
申请日：2020-12-17
发明人： Raphael Berner
IPC分类号： H04N5/351 , H04N5/3745 , H04N5/345 , H04N5/378
摘要： According to the present invention there is provided a vision sensor comprising, an array of pixels (101) comprising rows and columns of pixels, wherein each pixel has an address assigned thereto which represents the position of the pixel in the array, wherein each pixel in the array of pixels comprises a photodiode (103) which can receive light, and which can output current having an amplitude proportional to the intensity of the received light; a photoreceptor circuit (104) which is electronically connected to the photodiode, and which is configured to convert current which it receives from the photodiode into a voltage; a first storage capacitor (105), and at least a first switch which (106) is positioned between the first storage capacitor and an output of the photoreceptor circuit, wherein the first switch can be selectively closed to electronically connect the output of the photoreceptor circuit to the first storage capacitor, or selectively opened to electronically disconnect the output of the photoreceptor circuit from the first storage capacitor; and a circuit (102, 201) which is configured so that it can he selectively electronically connected to a pixel in the array, and to determine if the difference between the voltage output from the photoreceptor circuit and the voltage across the first storage capacitor is greater than a predefined threshold voltage, and to output the address of the pixel to a receiver only if the difference between the voltage output from the photoreceptor circuit and the voltage across the first storage capacitor is greater than a predefined threshold voltage. There is further provided a corresponding method of vision sensing using the vision sensor.
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公开(公告)号：US11212468B2
公开(公告)日：2021-12-28
申请号：US16297273
申请日：2019-03-08
摘要： An event-based vision sensor system comprises an event-based pixel array including pixels that detect light, a readout circuit for reading out events associated with light received by each pixel and with the position it occupies in the array, and a memory controller that enables writing of each event, or event-related data, associated with a certain pixel to a certain address in a memory.
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公开(公告)号：US20210144317A1
公开(公告)日：2021-05-13
申请号：US17125587
申请日：2020-12-17
发明人： Raphael Berner
IPC分类号： H04N5/351 , H04N5/3745 , H04N5/345 , H04N5/378
摘要： According to the present invention there is provided a vision sensor comprising, an array of pixels (101) comprising rows and columns of pixels, wherein each pixel has an address assigned thereto which represents the position of the pixel in the array, wherein each pixel in the array of pixels comprises a photodiode (103) which can receive light, and which can output current having an amplitude proportional to the intensity of the received light; a photoreceptor circuit (104) which is electronically connected to the photodiode, and which is configured to convert current which it receives from the photodiode into a voltage; a first storage capacitor (105), and at least a first switch which (106) is positioned between the first storage capacitor and an output of the photoreceptor circuit, wherein the first switch can he selectively closed to electronically connect the output of the photoreceptor circuit to the first storage capacitor, or selectively opened to electronically disconnect the output of the photoreceptor circuit from the first storage capacitor; and a circuit (102, 201) which is configured so that it can he selectively electronically connected to a pixel in the array, and to determine if the difference between the voltage output from the photoreceptor circuit and the voltage across the first storage capacitor is greater than a predefined threshold voltage, and to output the address of the pixel to a receiver only if the difference between the voltage output from the photoreceptor circuit and the voltage across the first storage capacitor is greater than a predefined threshold voltage. There is further provided a corresponding method of vision sensing using the vision sensor.
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公开(公告)号：US11825229B2
公开(公告)日：2023-11-21
申请号：US17609439
申请日：2020-05-08
发明人： Christian Brändli , Raphael Berner
IPC分类号： H04N25/772 , H04N25/40 , H04N25/75 , H04N25/766
CPC分类号： H04N25/772 , H04N25/40 , H04N25/75 , H04N25/766
摘要： A dynamic vision sensor such as an event based vision sensor employs analog to digital converters (ADC), such as ramp ADCs, that analog to digital converts the signals from photoreceptors. Only previous light values need to be stored in the pixels. This is accomplished by generating three ramps. In addition, log compression can be implemented by increasing the count linearly while increasing the reference voltage exponentially, or increasing the count logarithmically while increasing the reference voltage linearly.
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公开(公告)号：US11812169B2
公开(公告)日：2023-11-07
申请号：US17609437
申请日：2020-05-08
发明人： Christian Brändli , Raphael Berner
IPC分类号： H04N25/50 , H04N25/771 , H04N25/772
CPC分类号： H04N25/50 , H04N25/771 , H04N25/772
摘要： A dynamic vision sensor such as an event based vision sensor employs analog to digital converters (ADC), such as ramp ADCs, that analog to digital converts the signals from photoreceptors. Current and previous light values are then stored and compared digitally. In addition, log compression can be implemented by increasing the count linearly while increasing the reference voltage exponentially, or increasing the count logarithmically while increasing the reference voltage linearly.
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公开(公告)号：US11431937B2
公开(公告)日：2022-08-30
申请号：US16884129
申请日：2020-05-27
IPC分类号： H04N5/30 , H04N5/378 , H04N5/3745 , H04N5/374 , H04N5/335 , H04N5/341 , G01J1/46 , G06F11/00 , G06T7/20 , H04N5/355
摘要： In dynamic vision sensor (DVS) or change detection sensors, the chip or sensor is configured to control or modulate the event rate. For example, this control can be used to keep the event rate close to a desired rate or within desired bounds. Adapting the configuration of the sensor to the scene by changing the ON-event and/or the OFF-event thresholds, allows having necessary amount of data, but not much more than necessary, such that the overall system gets as much information about its state as possible.
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公开(公告)号：US20220224853A1
公开(公告)日：2022-07-14
申请号：US17609438
申请日：2020-05-08
发明人： Raphael Berner , Chistian Brändli
IPC分类号： H04N5/378 , H04N5/3745 , H04N5/369 , H04N5/376
摘要： An NMOS-only operational transconductance amplifier (OTA) replaces the PMOS transistors with switched capacitor pseudo-resistors in the pixels of an optical sensor such as a dynamic vision sensor or event-based vision sensor. Thus, if a stacked CMOS image sensor (CIS) process is employed, then the upper wafer can be kept free from N-wells, while still having the complete OTA on the upper wafer. Thus, it is possible to have only one wafer-to-wafer connection per pixel. Moreover, by operating the switched capacitor pseudo-resistors as three terminal devices, the gain can further be increased.
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公开(公告)号：US20210337151A1
公开(公告)日：2021-10-28
申请号：US17366392
申请日：2021-07-02
发明人： Raphael Berner , Christian Brändli
IPC分类号： H04N5/378 , H04N5/3745 , H04N5/374 , H04N5/335 , H04N5/341 , G01J1/46 , G06F11/00 , G06T7/20 , H04N5/355
摘要： A dynamic vision sensor (DVS) or change detection sensor reacts to changes in light intensity and in this way monitors how a scene changes. This disclosure covers both single pixel and array architectures. The DVS may contain one pixel or 2-dimensional or 1-dimensional array of pixels. The change of intensities registered by pixels are compared, and pixel addresses where the change is positive or negative are recorded and processed. Analyzing frames based on just three values for pixels, increase, decrease or unchanged, the proposed DVS can process visual information much faster than traditional computer vision systems, which correlate multi-bit color or gray level pixel values between successive frames.
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