公开(公告)号：US20230094677A1

公开(公告)日：2023-03-30

申请号：US17754930

申请日：2019-10-16

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Zachary Morriss

IPC: G01J5/59 ,  G01J5/00

Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

公开(公告)号：US20230007235A1

公开(公告)日：2023-01-05

申请号：US17930564

申请日：2022-09-08

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Shashank Sharma

IPC: H04N17/00 ,  B60S1/04 ,  B60S1/46 ,  B60S1/54 ,  H04N5/225 ,  G06T5/00 ,  G01N21/94 ,  G01S17/931 ,  G01S7/481 ,  H04N5/232

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.

公开(公告)号：US20220247907A1

公开(公告)日：2022-08-04

申请号：US17659922

申请日：2022-04-20

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Lucian Ion ,  Nirav Dharia

IPC: H04N5/235 ,  G05D1/02 ,  H04N5/243 ,  H04N9/04 ,  H04N5/357

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.

公开(公告)号：US20210203827A1

公开(公告)日：2021-07-01

申请号：US17108049

申请日：2020-12-01

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Lucian Ion ,  Nirav Dharia

IPC: H04N5/235 ,  H04N9/04 ,  H04N5/243 ,  G05D1/02

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.

公开(公告)号：US10965935B2

公开(公告)日：2021-03-30

申请号：US16809869

申请日：2020-03-05

Applicant: Waymo LLC

Inventor： Benjamin Frevert

IPC: H04N17/00 ,  G02B5/08 ,  H04N5/225 ,  G02B26/12

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.