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公开(公告)号：US11762063B2
公开(公告)日：2023-09-19
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
CPC classification number: G01S7/4813 , B60R11/04 , G05D1/0088 , G05D1/0246 , H04N23/51 , B60R2300/102 , B60R2300/105 , G05D2201/0213
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20230125032A1
公开(公告)日：2023-04-20
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20220276384A1
公开(公告)日：2022-09-01
申请号：US17739064
申请日：2022-05-06
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alexander McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S17/89 , G06T7/521 , G01S7/497 , G01S7/481 , G01S7/48 , G01S7/4865 , G01S17/08 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.
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公开(公告)号：US20220035005A1
公开(公告)日：2022-02-03
申请号：US17503571
申请日：2021-10-18
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20210368109A1
公开(公告)日：2021-11-25
申请号：US17394823
申请日：2021-08-05
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn
Abstract: An optical system for a vehicle may be configured with a plurality of camera sensors. Each camera sensor may be configured to create respective image data of a respective field of view. The optical system is further configured with a plurality of image processing units coupled to the plurality of camera sensors. The image processing units are configured to compress the image data captured by the camera sensors. A computing system is configured to store the compressed image data in a memory. The computing system is further configured with a vehicle-control processor configured to control the vehicle based on the compressed image data. The optical system and the computing system can be communicatively coupled by a data bus.
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Patent Agency Ranking
公开(公告)号：US11181619B2
公开(公告)日：2021-11-23
申请号：US16008462
申请日：2018-06-14
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20210185281A1
公开(公告)日：2021-06-17
申请号：US17187775
申请日：2021-02-27
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Simon Verghese , Brendan Hermalyn
Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.
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18.发明申请公开(公告)号：US20200151468A1
公开(公告)日：2020-05-14
申请号：US16741447
申请日：2020-01-13
Applicant: Waymo LLC
Inventor： Brendan Hermalyn , Andreas Wendel , Jeremy Dittmer
Abstract: Example implementations may relate to use of a light-control feature to control extent of light encountered by an image capture device of a self-driving vehicle. In particular, a computing system of the vehicle may make a determination that quality of image data generated by an image capture device is or is expected to be lower than a threshold quality due to external light encountered or expected to be encountered by the image capture device. In response to the determination, the computing system may make an adjustment to the light-control feature to control the extent of external light encountered or expected to be encountered by the image capture device. This adjustment may ultimately help improve quality of image data generated by the image capture device. As such, the computing system may operate the vehicle based at least on image data generated by the image capture device.
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公开(公告)号：US12250447B2
公开(公告)日：2025-03-11
申请号：US18413521
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N5/335 , H04N23/45 , H04N23/61 , H04N23/73 , H04N23/741
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US11917281B2
公开(公告)日：2024-02-27
申请号：US17517882
申请日：2021-11-03
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N5/335 , H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
CPC classification number: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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