公开(公告)号：US12153140B2

公开(公告)日：2024-11-26

申请号：US17268961

申请日：2019-09-02

Applicant: APPLE INC.

Inventor： David Silver ,  Eitan Hirsh ,  Moshe Laifenfeld ,  Tal Kaitz

IPC: G01S17/89 ,  G01S7/4863 ,  G01S17/10 ,  G01S17/58 ,  G01S17/86

Abstract: Imaging apparatus (22) includes a radiation source (40), which emits pulsed beams (42) of optical radiation toward a target scene (24). An array (52) of sensing elements outputs signals indicative of respective times of incidence of photons on the sensing elements. Objective optics (54) form a first image of the target scene on the array of sensing elements. An image sensor (64) captures a second image of the target scene. Processing and control circuitry (56, 58) is configured to process the second image so as to detect a relative motion between at least one object in the target scene and the apparatus, and which is configured to construct, responsively to the signals from the array, histograms of the times of incidence of the photons on the sensing elements and to adjust the histograms responsively to the detected relative motion, and to generate a depth map of the target scene based on the adjusted histograms.

公开(公告)号：US20220364849A1

公开(公告)日：2022-11-17

申请号：US17688933

申请日：2022-03-08

Applicant: Apple Inc.

Inventor： Shay Yosub ,  Assaf Avraham ,  Jawad Nawasra ,  Jonathan Pokrass ,  Moshe Laifenfeld ,  Nir Ben Zadok ,  Niv Gilboa ,  Tal Kaitz ,  Ronen Akerman ,  Naveh Levanon

IPC: G01B11/22 ,  G01S17/894 ,  G01S7/4865 ,  G06T7/55 ,  G06T7/521 ,  G06T7/80

Abstract: Depth mapping apparatus includes an illumination assembly, which directs modulated optical radiation toward a target scene, and a camera, which captures a two-dimensional image of the target scene. A range sensor senses respective times of flight of photons reflected from a matrix of locations disposed across the target scene. A processor derives first depth coordinates of the matrix of locations responsively to the respective times of flight, derives second depth coordinates of the matrix of locations responsively to a transverse disparity between features in the two-dimensional image and corresponding reference features in a reference image, computes a disparity correction function based on a difference between the first and the second depth coordinates at the matrix of locations, corrects the transverse disparity between the two-dimensional image and the reference image using the disparity correction function, and generates a depth map of the target scene based on the corrected transverse disparity.

公开(公告)号：US20220283307A1

公开(公告)日：2022-09-08

申请号：US17189300

申请日：2021-03-02

Applicant: APPLE INC.

Inventor： Moshe Laifenfeld ,  Zeev Roth

IPC: G01S17/89 ,  G01S17/10 ,  G01S17/04

Abstract: Depth sensing apparatus includes a radiation source, which emits a first array of beams of light pulses through a window toward a target scene. Objective optics image the target scene onto a second array of sensing elements, which output signals indicative of respective times of incidence of photons. A first calibration, which associates the beams in the first array with respective first locations on the second array onto which the beams reflected from the target scene are imaged, is used in processing the signals in order to measure respective times of flight of the light pulses. A second calibration indicates second locations on which stray radiation is incident on the second array due to reflection of the beams from the window. Upon detecting a change in the second locations relative to the second calibration, the first calibration is corrected so as to compensate for the detected change.

公开(公告)号：US20220069545A1

公开(公告)日：2022-03-03

申请号：US17378711

申请日：2021-07-18

Applicant: Apple Inc.

Inventor： Harish Venkataraman ,  Chinhan Lin ,  Fei Tan ,  Ido Luft ,  Moshe Laifenfeld ,  Susan A. Thompson

IPC: H01S5/042 ,  H03K17/687

Abstract: An optoelectronic device includes a laser diode, a driver and a reverse-bias circuit. The laser diode has a first terminal and a second terminal. The driver is coupled to drive current pulses through the laser diode between the first and second terminals. The reverse-bias circuit is configured to reverse-bias the laser diode during time intervals derived from the current pulses.

公开(公告)号：US20210164776A1

公开(公告)日：2021-06-03

申请号：US17175714

申请日：2021-02-15

Applicant: Apple Inc.

Inventor： Zeev Roth ,  Mendy Shoval ,  Moshe Laifenfeld ,  Sagy Zino ,  Thierry Oggier

IPC: G01B11/22 ,  G01S7/4865 ,  H01S5/183 ,  G01S17/89 ,  G01S17/10 ,  H01L31/107 ,  H01S5/32

Abstract: Depth sensing apparatus includes a radiation source, which is configured to emit a first plurality of beams of light pulses toward a target scene. An array of a second plurality of sensing elements is configured to output signals indicative of respective times of incidence of photons on the sensing element, wherein the second plurality exceeds the first plurality. Light collection optics are configured to image the target scene onto the array of sensing elements. Processing and control circuitry is coupled to receive the signals from the array and is configured to search over the sensing elements in order to identify, responsively to the signals, respective regions of the array on which the light pulses reflected from the target scene are incident, and to process the signals from the identified regions in order determine respective times of arrival of the light pulses.

公开(公告)号：US10962628B1

公开(公告)日：2021-03-30

申请号：US15880285

申请日：2018-01-25

Applicant: Apple Inc.

Inventor： Moshe Laifenfeld ,  Tal Kaitz ,  Shingo Mandai ,  Cristiano L. Niclass

IPC: G01S7/481 ,  G01S7/486 ,  G01S17/10 ,  G01S7/4865 ,  G01S7/4861

Abstract: Disclosed are devices and methods for scanning sensing systems having an array of light sensing pixels, such as pixels that use single-photon avalanche diodes. Light pulses are emitted into a field of view (FOV) at starts of a sequence of time intervals, and a weighted tabulation of the times-of-flight of the reflected light pulses within each time interval is used to detect an object in the FOV and determine its distance. Each weight is based on the time-of-flight between the emitted pulse and the received reflected light pulse and on the number of the emitted light pulse in the sequence of emitted light pulses. For near objects the weights emphasize times-of-flight from peripheral time intervals of the sequence; for far objects the weights emphasize central time intervals of the sequence.

公开(公告)号：US10955234B2

公开(公告)日：2021-03-23

申请号：US16532517

申请日：2019-08-06

Applicant: APPLE INC.

Inventor： Zeev Roth ,  Mendy Shoval ,  Moshe Laifenfeld ,  Sagy Zino ,  Thierry Oggier

IPC: G01B11/22 ,  H01L31/107 ,  H01S5/183 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/89 ,  H01S5/32

Abstract: Depth sensing apparatus includes a radiation source, which is configured to emit a first plurality of beams of light pulses toward a target scene. An array of a second plurality of sensing elements is configured to output signals indicative of respective times of incidence of photons on the sensing element, wherein the second plurality exceeds the first plurality. Light collection optics are configured to image the target scene onto the array of sensing elements. Processing and control circuitry is coupled to receive the signals from the array and is configured to search over the sensing elements in order to identify, responsively to the signals, respective regions of the array on which the light pulses reflected from the target scene are incident, and to process the signals from the identified regions in order determine respective times of arrival of the light pulses.

公开(公告)号：US10775507B2

公开(公告)日：2020-09-15

申请号：US15673428

申请日：2017-08-10

Applicant: Apple Inc.

Inventor： Shingo Mandai ,  Cristiano L Niclass ,  Richard E Bills ,  Moshe Laifenfeld ,  Mina A. Rezk ,  Alexander Shpunt ,  Ron Sokolovsky ,  Tal Kaitz ,  Ronen Akerman ,  Jason D. Mudge ,  Andrew J Sutton

IPC: G01S17/00 ,  G01S17/89 ,  G01S7/486 ,  G01S7/4863 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01B11/02 ,  G01S7/481 ,  G02F1/29

Abstract: An electro-optical device includes a laser, which is configured to emit toward a scene pulses of optical radiation. An array of detectors are configured to receive the optical radiation that is reflected from points in the scene and to output signals indicative of respective times of arrival of the received radiation. A controller is coupled to drive the laser to emit a sequence of pulses of the optical radiation toward each of a plurality of points in the scene and to find respective times of flight for the points responsively to the output signals, while controlling a power of the pulses emitted by the laser by counting a number of the detectors outputting the signals in response to each pulse, and reducing the power of a subsequent pulse in the sequence when the number is greater than a predefined threshold.

公开(公告)号：US20190042718A1

公开(公告)日：2019-02-07

申请号：US16050021

申请日：2018-07-31

Applicant: Apple Inc.

Inventor： Deepti S. Prakash ,  Lucia E. Ballard ,  Jerrold V. Hauck ,  Feng Tang ,  Etai Littwin ,  Pavan Kumar Ansosalu Vasu ,  Gideon Littwin ,  Thorsten Gernoth ,  Lucie Kucerova ,  Petr Kostka ,  Steven P. Hotelling ,  Eitan Hirsh ,  Tal Kaitz ,  Jonathan Pokrass ,  Andrei Kolin ,  Moshe Laifenfeld ,  Matthew C. Waldon ,  Thomas P. Mensch ,  Lynn R. Youngs ,  Christopher G. Zeleznik ,  Michael R. Malone ,  Ziv Hendel ,  Ivan Krstic ,  Anup K. Sharma ,  Kelsey Y. Ho

IPC: G06F21/32 ,  G06K9/00

Abstract: Techniques are disclosed relating to biometric authentication, e.g., facial recognition. In some embodiments, a device is configured to verify that image data from a camera unit exhibits a pseudo-random sequence of image capture modes and/or a probing pattern of illumination points (e.g., from lasers in a depth capture mode) before authenticating a user based on recognizing a face in the image data. In some embodiments, a secure circuit may control verification of the sequence and/or the probing pattern. In some embodiments, the secure circuit may verify frame numbers, signatures, and/or nonce values for captured image information. In some embodiments, a device may implement one or more lockout procedures in response to biometric authentication failures. The disclosed techniques may reduce or eliminate the effectiveness of spoofing and/or replay attacks, in some embodiments.

公开(公告)号：US20190018119A1

公开(公告)日：2019-01-17

申请号：US16034250

申请日：2018-07-12

Applicant: Apple Inc.

Inventor： Moshe Laifenfeld ,  Cristiano L. Niclass ,  Shingo Mandai ,  Tal Kaitz

IPC: G01S7/486 ,  G01S17/10 ,  G01S7/481

Abstract: Disclosed herein are methods and devices for light emitting depth sensors such as scanning depth sensors and LIDARS. Methods, devices and systems disclose tracking a beam of reflected light pulses on an array of light sensing pixels. The tracking can dynamically update a location of the beam or an expected on-center time of the reflected light pulses at a pixel of the array. Counts of detected reflected pulses in time periods before and after the expected on-center time at a pixel are used to detect offsets in initial estimates of the beam location or timing.