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公开(公告)号：US11353588B2
公开(公告)日：2022-06-07
申请号：US16177626
申请日：2018-11-01
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex 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：US20220060616A1
公开(公告)日：2022-02-24
申请号：US17517882
申请日：2021-11-03
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
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：US11002949B2
公开(公告)日：2021-05-11
申请号：US16656123
申请日：2019-10-17
Applicant: Waymo LLC
Inventor： Brendan Hermalyn
Abstract: The present disclosure relates to multiple view optical systems. An example optical system includes at least one primary optical element configured to receive incident light from a scene and a plurality of relay mirrors optically coupled to the at least one primary optical element. The optical system also includes a lens optically coupled to the plurality of relay mirrors, and an image sensor configured to receive focused light from the lens. The image sensor includes a first light-sensitive area and a second light-sensitive area. The primary optical element, the plurality of relay mirrors, and the lens interact with the incident light to form a first focused light portion and a second focused light portion. The first focused light portion forms a first image portion of the scene on the first light-sensitive area and the second focused light portion forms a second image portion of the scene on the second light-sensitive area.
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公开(公告)号：US10951864B2
公开(公告)日：2021-03-16
申请号：US16592541
申请日：2019-10-03
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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公开(公告)号：US20200351434A1
公开(公告)日：2020-11-05
申请号：US16935931
申请日：2020-07-22
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
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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Patent Agency Ranking
公开(公告)号：US20200169701A1
公开(公告)日：2020-05-28
申请号：US16592541
申请日：2019-10-03
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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公开(公告)号：US12149868B2
公开(公告)日：2024-11-19
申请号：US18388458
申请日：2023-11-09
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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公开(公告)号：US11838689B2
公开(公告)日：2023-12-05
申请号：US17959170
申请日：2022-10-03
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Simon Verghese , Brendan Hermalyn
IPC: G01S17/86 , H04N7/18 , G01S7/481 , G01S17/931 , H04N23/60 , H04N23/69 , G01S17/87 , G01S17/89 , B60R1/00
CPC classification number: H04N7/183 , G01S7/4812 , G01S7/4817 , G01S17/86 , G01S17/87 , G01S17/89 , G01S17/931 , H04N23/60 , H04N23/69 , B60R1/00 , B60R2300/101 , B60R2300/301
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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公开(公告)号：US20230194681A1
公开(公告)日：2023-06-22
申请号：US18171883
申请日：2023-02-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/4865 , G01S7/48 , G01S7/481 , G01S17/931
CPC classification number: G01S7/4865 , G01S7/4804 , G01S7/4816 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source 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 illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.
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公开(公告)号：US11675174B2
公开(公告)日：2023-06-13
申请号：US17227285
申请日：2021-04-10
Applicant: Waymo LLC
Inventor： Brendan Hermalyn
CPC classification number: G02B17/08 , G02B17/008 , H04N23/55 , H04N23/741 , B60R11/04 , H04N23/45
Abstract: The present disclosure relates to optical systems. An example optical system includes at least one primary optical element configured to receive incident light from a scene and a plurality of relay mirrors optically coupled to the at least one primary optical element. The optical system also includes a lens optically coupled to the plurality of relay mirrors, and an image sensor configured to receive focused light from the lens. The image sensor includes a first light-sensitive area and a second light-sensitive area. The primary optical element, the plurality of relay mirrors, and the lens interact with the incident light to form a first focused light portion and a second focused light portion. The first focused light portion forms a first image portion of the scene on the first light-sensitive area and the second focused light portion forms a second image portion of the scene on the second light-sensitive area.
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