公开(公告)号：US20130188022A1

公开(公告)日：2013-07-25

申请号：US13356618

申请日：2012-01-23

申请人： Sagi Katz ,  Avishai Adler ,  Giora Yahav ,  David Cohen ,  Eli Larry ,  Shlomo Felzenshtein

发明人： Sagi Katz ,  Avishai Adler ,  Giora Yahav ,  David Cohen ,  Eli Larry ,  Shlomo Felzenshtein

IPC分类号： H04N13/02

CPC分类号： G01S17/89 ,  G01S17/10 ,  G01S17/87 ,  H04N13/239

摘要： A 3D imager comprising two cameras having fixed wide-angle and narrow angle FOVs respectively that overlap to provide an active space for the imager and a controller that determines distances to features in the active space responsive to distances provided by the cameras and a division of the active space into near, intermediate, and far zones.

摘要翻译： 3D成像仪包括分别具有固定的广角和窄角FOV的两个相机，其重叠以为成像器提供活动空间，以及控制器，其响应于由相机提供的距离和确定距离 活动空间进入近，中，远区。

公开(公告)号：US20120154542A1

公开(公告)日：2012-06-21

申请号：US12973671

申请日：2010-12-20

申请人： Sagi Katz ,  Avishai Adler ,  Giora Yahav ,  John Tardif

发明人： Sagi Katz ,  Avishai Adler ,  Giora Yahav ,  John Tardif

IPC分类号： H04N13/02 ,  G06K9/00

CPC分类号： A63F13/06 ,  A63F13/213 ,  A63F2300/1087 ,  G01S17/87 ,  G01S17/89

摘要： A depth-mapping method comprises exposing first and second detectors oriented along different optical axes to light dispersed from a scene, and furnishing an output responsive to a depth coordinate of a locus of the scene. The output increases with an increasing first amount of light received by the first detector during a first period, and decreases with an increasing second amount of light received by the second detector during a second period different than the first.

摘要翻译： 深度映射方法包括将沿着不同光轴定向的第一和第二检测器暴露于从场景分散的光，并且响应于场景的轨迹的深度坐标提供输出。 输出随第一检测器在第一时段期间接收到的第一光量增加而增加，并且随着在与第一检测器不同的第二周期期间由第二检测器接收的第二光量增加而减小。

公开(公告)号：US08102426B2

公开(公告)日：2012-01-24

申请号：US11612021

申请日：2006-12-18

申请人： Giora Yahav ,  Gavriel Joseph Iddan

发明人： Giora Yahav ,  Gavriel Joseph Iddan

IPC分类号： H04N5/225 ,  H04N7/18

CPC分类号： G01S17/89 ,  G01S7/4863 ,  G01S17/08 ,  G01S17/105 ,  G01S17/107 ,  H04N5/2226 ,  H04N5/2256 ,  H04N5/361 ,  H04N5/374 ,  H04N5/3745 ,  H04N13/207 ,  H04N13/254

摘要： A 3D camera for determining distances to regions in a scene comprising: a photosurface having a plurality of pixels each of which comprises a circuit having a light sensitive element that provides a current responsive to light incident thereon, wherein the circuit comprises, at least one amplifier inside the pixel, having an input and an output; at least one feedback capacitor separate from the light sensitive element and connected between the input and output of each of the at least one amplifier; at least one controllable connection through which current flows from the light sensitive element into the input of the at least one amplifier; a light source; and, a controller that, controls the light source to illuminate the scene with light, opens and closes the at least one controllable connection to gate or modulate current from the light sensitive element of a pixel in the photosurface responsive to the time dependence of the gating or modulation of the light, controls the at least one controllable connection to provide a current for correcting biases caused by at least one of background light or dark current, and determines a distance to a region imaged on the pixel responsive to an amount of charge integrated on the feedback capacitor responsive to the gated or modulated current and the corrected biases.

摘要翻译： 一种用于确定与场景中的区域的距离的3D照相机，包括：具有多个像素的光敏面，每个像素包括具有响应于入射在其上的光的电流的光敏元件的电路，其中所述电路包括：至少一个放大器 在像素内部，具有输入和输出; 至少一个反馈电容器与所述光敏元件分离并连接在所述至少一个放大器中的每一个的输入和输出之间; 电流从所述光敏元件流过所述至少一个放大器的输入的至少一个可控制的连接; 光源; 以及控制器，其用光来控制光源照亮场景，响应于门控器的时间依赖性而打开和关闭至少一个可控制的连接以对来自光敏面的像素的光敏元件进行栅极或调制电流 或调制光，控制至少一个可控连接以提供用于校正由背景光或暗电流中的至少一个引起的偏差的电流，并且响应于电荷量积分确定到成像在像素上的区域的距离 在反馈电容器上响应门控或调制电流和校正偏差。

公开(公告)号：US20110310125A1

公开(公告)日：2011-12-22

申请号：US12819414

申请日：2010-06-21

申请人： Scott McEldowney ,  John A. Tardif ,  John Clavin ,  David Cohen ,  Giora Yahav

发明人： Scott McEldowney ,  John A. Tardif ,  John Clavin ,  David Cohen ,  Giora Yahav

IPC分类号： G09G5/00 ,  G06F3/033

CPC分类号： G06F3/017 ,  G09G2340/045 ,  G09G2354/00

摘要： A system and method are disclosed for selectively focusing on certain areas of interest within an imaged scene to gain more image detail within those areas. In general, the present system identifies areas of interest from received image data, which may for example be detected areas of movement within the scene. The system then focuses on those areas by providing more detail in the area of interest. This may be accomplished by a number of methods, including zooming in on the image, increasing pixel density of the image and increasing the amount of light incident on the object in the image.

摘要翻译： 公开了一种系统和方法，用于选择性地聚焦在成像场景内的某些感兴趣区域，以在这些区域内获得更多的图像细节。 通常，本系统从接收的图像数据中识别感兴趣的区域，其可以例如是场景内的检测到的移动区域。 然后系统通过在感兴趣的领域提供更多细节来关注这些领域。 这可以通过多种方法来实现，包括放大图像，增加图像的像素密度和增加入射到图像上物体的光量。

公开(公告)号：US20110187826A1

公开(公告)日：2011-08-04

申请号：US12699074

申请日：2010-02-03

申请人： Shlomo FELZENSHTEIN ,  Giora Yahav ,  Eli Larry

发明人： Shlomo FELZENSHTEIN ,  Giora Yahav ,  Eli Larry

IPC分类号： H04N13/02 ,  G01C3/08 ,  H01L27/146 ,  H01L27/148 ,  H04N5/335

CPC分类号： H04N5/2353 ,  G01C3/08 ,  H01L27/146 ,  H01L27/148 ,  H04N5/335 ,  H04N5/351 ,  H04N13/20 ,  H04N13/204 ,  H04N13/296

摘要： An embodiment of the invention provides a camera comprising a photosurface that is electronically turned on and off to respectively initiate and terminate an exposure period of the camera at a frequency sufficiently high so that the camera can be used to determine distances to a scene that it images without use of an external fast shutter. In an embodiment, the photosurface comprises pixels formed on a substrate and the photosurface is turned on and turned off by controlling voltage to the substrate. In an embodiment, the substrate pixels comprise light sensitive pixels, also referred to as “photopixels”, in which light incident on the photosurface generates photocharge, and storage pixels that are insensitive to light that generates photocharge in the photopixels. In an embodiment, the photosurface is controlled so that the storage pixels accumulate and store photocharge substantially upon its generation during an exposure period of the photosurface.

摘要翻译： 本发明的一个实施例提供了一种照相机，其包括电子地打开和关闭以分别以足够高的频率启动和终止照相机的曝光周期的光敏面，使得照相机可以用于确定到其图像的场景的距离 不使用外部快门。 在一个实施例中，光敏表面包括形成在衬底上的像素，并且通过控制对衬底的电压将光敏面接通和关断。 在一个实施例中，衬底像素包括也被称为“照相像素”的光敏像素，其中入射在光电面上的光产生光电荷，以及对在光像元件中产生光电荷的光不敏感的存储像素。 在一个实施例中，控制光敏表面，使得存储像素在照射面的曝光期间基本上累积并存储光电荷。

公开(公告)号：US20090167679A1

公开(公告)日：2009-07-02

申请号：US12003705

申请日：2007-12-31

申请人： Zvi Klier ,  Sagi Katz ,  Mattias Marder ,  Giora Yahav

发明人： Zvi Klier ,  Sagi Katz ,  Mattias Marder ,  Giora Yahav

IPC分类号： G06F3/033

CPC分类号： G06F3/0304 ,  G06F3/011 ,  G06F3/013

摘要： A system and method for identifying a pointing organ or a pointing device in a field of imaging of a 3-D imaging system and for calculating a line of pointing relative to this organ or device are disclosed. The method and system may be used to enable a user to communicate with computer programs, such as computer games, 3-D design programs and the like. The method and system may further employ a trigger-like mechanism to identify a movement of a user that may be interpreted as trigger activation.

摘要翻译： 公开了一种用于识别3-D成像系统的成像领域中的指示器官或指示装置并且用于计算相对于该器官或装置的指向线的系统和方法。 该方法和系统可以用于使得用户能够与诸如计算机游戏，3D设计程序等的计算机程序通信。 该方法和系统可以进一步采用类似触发器的机构来识别可被解释为触发激活的用户的移动。

公开(公告)号：US20070091175A1

公开(公告)日：2007-04-26

申请号：US11612021

申请日：2006-12-18

申请人： Gavriel Iddan ,  Giora Yahav

发明人： Gavriel Iddan ,  Giora Yahav

IPC分类号： H04N13/02 ,  H04N7/18

CPC分类号： G01S17/89 ,  G01S7/4863 ,  G01S17/08 ,  G01S17/105 ,  G01S17/107 ,  H04N5/2226 ,  H04N5/2256 ,  H04N5/361 ,  H04N5/374 ,  H04N5/3745 ,  H04N13/207 ,  H04N13/254

摘要： A 3D camera for determining distances to regions in a scene comprising: a photosurface having a plurality of pixels each of which comprises a circuit having a light sensitive element that provides a current responsive to light incident thereon, wherein the circuit comprises, at least one amplifier inside the pixel, having an input and an output; at least one feedback capacitor separate from the light sensitive element and connected between the input and output of each of the at least one amplifier; at least one controllable connection through which current flows from the light sensitive element into the input of the at least one amplifier; a light source; and, a controller that, controls the light source to illuminate the scene with light, opens and closes the at least one controllable connection to gate or modulate current from the light sensitive element of a pixel in the photosurface responsive to the time dependence of the gating or modulation of the light, controls the at least one controllable connection to provide a current for correcting biases caused by at least one of background light or dark current, and determines a distance to a region imaged on the pixel responsive to an amount of charge integrated on the feedback capacitor responsive to the gated or modulated current and the corrected biases.

摘要翻译： 一种用于确定与场景中的区域的距离的3D照相机，包括：具有多个像素的光敏面，每个像素包括具有响应于入射在其上的光的电流的光敏元件的电路，其中所述电路包括：至少一个放大器 在像素内部，具有输入和输出; 至少一个反馈电容器与所述光敏元件分离并连接在所述至少一个放大器中的每一个的输入和输出之间; 电流从所述光敏元件流过所述至少一个放大器的输入的至少一个可控制的连接; 光源; 以及控制器，其用光来控制光源照亮场景，响应于门控器的时间依赖性而打开和关闭至少一个可控制的连接以对来自光敏面中的像素的光敏元件进行栅极或调制电流 或调制光，控制至少一个可控连接以提供用于校正由背景光或暗电流中的至少一个引起的偏差的电流，并且响应于电荷量积分确定到成像在像素上的区域的距离 在反馈电容器上响应门控或调制电流和校正偏差。

公开(公告)号：US06765606B1

公开(公告)日：2004-07-20

申请号：US09554525

申请日：2000-05-11

申请人： Gavriel J. Iddan ,  Giora Yahav

发明人： Gavriel J. Iddan ,  Giora Yahav

IPC分类号： H04N1500

CPC分类号： G01S17/48 ,  G01S7/4817 ,  G01S7/4911 ,  G01S17/89

摘要： An apparatus is provided for 3D imaging of an object comprising a scanning light beam encoded with position data corresponding to the spatial position of the scanning light beam, and an imaging system that images localized surface areas of the object illuminated by the scanning light beam, which imaging system records the position data coded into the scanning beam so that three spatial coordinates of the localized surface areas imaged are determinable using the recorded position data.

摘要翻译： 提供一种用于对物体进行3D成像的装置，包括用与扫描光束的空间位置对应的位置数据编码的扫描光束，以及成像系统，其对由扫描光束照射的物体的局部表面区域进行成像， 成像系统记录编码到扫描光束中的位置数据，使得使用记录的位置数据可以确定成像的局部表面区域的三个空间坐标。

公开(公告)号：US06483094B1

公开(公告)日：2002-11-19

申请号：US09402854

申请日：2000-01-03

申请人： Giora Yahav ,  Gavriel J. Iddan

发明人： Giora Yahav ,  Gavriel J. Iddan

IPC分类号： H01J4014

CPC分类号： H01L31/143

摘要： A solid-state optoelectronic shutter having an input and an output, comprising a semiconductor material, having formed therein or thereon: a planar photodiode (24), having a planar surface, and optically communicating with the input; a planar LED layer (26), having a planar surface substantially parallel to the planar photodiode, and optionally communicating with the output; and a planar gate layer (28), intermediate the planar photodiode and the planar LED.

摘要翻译： 一种具有输入和输出的固态光电闸门，包括在其中或其上形成的半导体材料：平面光电二极管（24），具有平坦表面，并与输入端光学连通; 平面LED层（26），其平面表面基本上平行于平面光电二极管，并且可选地与输出端连通; 和平面栅极层（28），在平面光电二极管和平面LED之间。

公开(公告)号：US5467273A

公开(公告)日：1995-11-14

申请号：US3230

申请日：1993-01-11

申请人： Sorin Faibish ,  Giora Yahav ,  Shlomo Djerassi

发明人： Sorin Faibish ,  Giora Yahav ,  Shlomo Djerassi

IPC分类号： G01S17/06 ,  G01S17/87 ,  G01S17/93 ,  G05D1/02 ,  G06F165/00

CPC分类号： G01S17/936 ,  G01S17/06 ,  G01S17/87 ,  G05D1/0244 ,  G05D1/027

摘要： A large area movement robot including a chassis, controllable apparatus for displacement of the chassis, navigation apparatus for controlling the operation of the controllable apparatus, the navigation apparatus comprising a scanning range finder mounted on the chassis, apparatus associated with the scanning range finder for determining the azimuthal orientation of a retroreflecting object whose range is simultaneously determined by the scanning range finder and apparatus responsive to the sensed range and angular orientation of the retroreflecting object for providing operating instructions to the controllable apparatus.

摘要翻译： 一种大面积移动机器人，包括底盘，用于移动底盘的可控设备，用于控制可控设备的操作的导航设备，导航设备包括安装在底盘上的扫描测距仪，与扫描测距仪相关联的设备，用于确定 回射物体的方位角取向同时由扫描测距仪和设备确定，该测量装置和设备响应于感测到的回射物体的范围和角度定向，向可控设备提供操作指令。