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11.发明申请公开(公告)号：US20220210362A1
公开(公告)日：2022-06-30
申请号：US17570811
申请日：2022-01-07
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
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：US20200336733A1
公开(公告)日：2020-10-22
申请号：US16809869
申请日：2020-03-05
Applicant: Waymo LLC
Inventor： Benjamin Frevert
Abstract: Example embodiments relate to calibration systems usable for distortion characterization in cameras. An example embodiment includes a calibration system. The calibration system includes a first calibration target that includes a first mirror, a plurality of fiducials positioned on or adjacent to the first mirror, and an indexing fiducial positioned on or adjacent to the first mirror. The calibration system also includes a second calibration target that includes one or more second mirrors and has an aperture defined therein. The first mirror and the one or more second mirrors are separated by a distance. The first mirror faces the one or more second mirrors. The indexing fiducial is visible through the aperture in the second calibration target. Reflections of the plurality of fiducials are visible through the aperture defined in the second calibration target. The reflections of the plurality of fiducials are iterated reflections.
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公开(公告)号：US20250008203A1
公开(公告)日：2025-01-02
申请号：US18885858
申请日：2024-09-16
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
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：US20240195950A1
公开(公告)日：2024-06-13
申请号：US18581042
申请日：2024-02-19
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N17/00 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/481 , G01S17/931 , G06T5/73 , H04N23/56 , H04N23/80
CPC classification number: H04N17/002 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/4817 , G01S17/931 , G06T5/73 , H04N23/56 , H04N23/80 , G06T2207/30168 , G06T2207/30248
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：US20220210305A1
公开(公告)日：2022-06-30
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
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：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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17.发明授权公开(公告)号：US11252366B2
公开(公告)日：2022-02-15
申请号：US16688443
申请日：2019-11-19
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
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：US12250468B2
公开(公告)日：2025-03-11
申请号：US18308390
申请日：2023-04-27
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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公开(公告)号：US11936845B2
公开(公告)日：2024-03-19
申请号：US17930564
申请日：2022-09-08
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N7/18 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/481 , G01S17/931 , G06T5/00 , H04N17/00 , H04N23/56 , H04N23/80
CPC classification number: H04N17/002 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/4817 , G01S17/931 , G06T5/003 , H04N23/56 , H04N23/80 , G06T2207/30168 , G06T2207/30248
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：US20230370703A1
公开(公告)日：2023-11-16
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 , H04N23/62 , 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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