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公开(公告)号：US20200321374A1
公开(公告)日：2020-10-08
申请号：US16376634
申请日：2019-04-05
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei , Carl Warren Craddock
IPC: H01L27/146 , G06N3/08 , H04N5/341 , H04N5/232 , G06K9/32
Abstract: A image sensor includes a first integrated circuit layer including pixel sensors that are grouped based on position into pixel sensor groups, a second integrated circuit layer in electrical communication with the first integrated circuit layer, the second integrated circuit layer including image processing circuitry groups that are configured to each receive pixel information from a corresponding pixel sensor group, the image processing circuitry groups further configured to perform image processing operations on the pixel information to provide processed pixel information during operation of the image sensor, a third integrated circuit layer in electrical communication with the second integrated circuit layer, and the third integrated circuit layer including neural network circuitry groups that are configured to each receive the processed pixel information from a corresponding image processing circuitry group and perform analysis for object detection on the processed pixel information during operation of the image sensor.
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公开(公告)号：US20250080872A1
公开(公告)日：2025-03-06
申请号：US18819678
申请日：2024-08-29
Applicant: Waymo LLC
Inventor： Nirav Shailesh kumar Dharia , Lucian Ion , Simon Verghese
IPC: H04N25/705 , G01S17/86 , G01S17/894 , G06V10/82 , H04N25/13 , H04N25/78 , H04N25/79
Abstract: Example embodiments relate to devices, systems, and methods involving three-dimensional time-of-flight/visible image sensors. An example embodiment includes a device that includes a plurality of time of flight sensor (ToF) pixels and a plurality of visible image sensor (VIS) pixels. The device also includes a ToF communication channel configured to provide ToF image data indicative of one or more ToF pixels and a VIS communication channel configured to provide VIS image data indicative of one or more VIS pixels. The plurality of ToF pixels and the plurality of VIS pixels are arranged along a plane. The plurality of ToF pixels is disposed in an arrangement among the plurality of VIS pixels.
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公开(公告)号：US12241618B2
公开(公告)日：2025-03-04
申请号：US18413494
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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公开(公告)号：US12147891B2
公开(公告)日：2024-11-19
申请号：US17526170
申请日：2021-11-15
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei
IPC: G06N3/063 , G06T7/00 , G06V10/764 , G06V10/82 , G06V10/94
Abstract: A method includes obtaining multiple images captured by pixel sensors of an image sensor, analyzing, using neural network circuitry integrated in the image sensor, the multiple images for object detection, generating, for each of the multiple images using the neural network circuitry integrated in the image sensor, neural network output data related to results of the analysis of the multiple images for object detection, and transmitting, from the image sensor, the neural network output data for each of the multiple images and image data for a subset of the multiple images instead of image data of each of the multiple images.
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公开(公告)号：US20240320810A1
公开(公告)日：2024-09-26
申请号：US18678388
申请日：2024-05-30
Applicant: Waymo LLC
Inventor： Xiaoying He , Ryan Geiss , Pieter Kapsenberg , Carl Warren Craddock , Zhinan Xu , Lucian Ion , Ajay Chandra Venkata Gummalla
IPC: G06T5/92 , G06T3/4007 , G06T5/94
CPC classification number: G06T5/92 , G06T3/4007 , G06T5/94 , G06T2207/20084 , G06T2207/20208 , G06T2207/30252
Abstract: A system is provided that includes an image sensor coupled to a vehicle, and control circuitry configured to perform operations including receiving, from the image sensor, an input stream comprising high dynamic range (HDR) image data associated with an environment of the vehicle, and processing the input stream at the vehicle by applying a global tone mapping, followed by offline image processing that can include applying a local tone mapping to the globally tone mapped images of the same input stream.
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Patent Agency Ranking
公开(公告)号：US20240119560A1
公开(公告)日：2024-04-11
申请号：US18531036
申请日：2023-12-06
Applicant: Waymo LLC
Inventor： Ignacio Garcia Dorado , Damien Kelly , Xiaoying He , Jia Feng , Bartlomiej Wronski , Peyman Milanfar , Lucian Ion
CPC classification number: G06T3/4053 , B60R11/04 , G06F17/16 , G06F17/18
Abstract: Described examples relate to an apparatus comprising one or more image sensors coupled to a vehicle and at least one processor. The at least one processor may be configured to capture, in a burst sequence using the one or more image sensors, multiple frames of an image of a scene, the multiple frames having respective, relative offsets of the image across the multiple frames and perform super-resolution computations using the captured, multiple frames of the image of the scene. The at least one processor may also be configured to accumulate, based on the super-resolution computations, color planes and combine, using the one or more processors, the accumulated color planes to create a super-resolution image of the scene.
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公开(公告)号：US20230300477A1
公开(公告)日：2023-09-21
申请号：US18323093
申请日：2023-05-24
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
CPC classification number: H04N25/443 , G06F9/5038 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.
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公开(公告)号：US11756283B2
公开(公告)日：2023-09-12
申请号：US17123440
申请日：2020-12-16
Applicant: Waymo LLC
Inventor： Nirav Dharia , Lucian Ion
CPC classification number: G06V10/255 , G06T7/246 , G06V40/162 , H04N23/70 , H04N23/951 , G06T2207/20084
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), and configured to operate at a frame rate higher than a threshold rate. The system also includes an image processing resource. The system further includes control circuitry configured to perform operations that include obtaining, from the image sensor, a full-resolution image of an environment. The full-resolution image contains each respective ROI of the plurality of ROIs. The operations also include selecting a particular ROI based on the full-resolution image, and detecting an object of interest in the particular ROI. The operations include determining a mode of operation by which subsequent image data generated by the particular ROI is to be processed. The operations further include processing, based on the mode of operation and the frame rate, the image data comprising a plurality of ROI images of the object of interest.
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公开(公告)号：US20230269484A1
公开(公告)日：2023-08-24
申请号：US18308390
申请日：2023-04-27
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
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：US11678059B2
公开(公告)日：2023-06-13
申请号：US17659922
申请日：2022-04-20
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
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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