Timestamp calibration of the 3D camera with epipolar line laser point scanning

    公开(公告)号:US11431938B2

    公开(公告)日:2022-08-30

    申请号:US17093632

    申请日:2020-11-09

    Abstract: Using the same image sensor to capture a two-dimensional (2D) image and three-dimensional (3D) depth measurements for a 3D object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to generate the 3D depth profile of the object using triangulation. Each row of pixels in the pixel array forms an epipolar line of the corresponding laser scan line. Timestamping provides a correspondence between the pixel location of a captured light spot and the respective scan angle of the laser to remove any ambiguity in triangulation. An Analog-to-Digital Converter (ADC) in the image sensor operates as a Time-to-Digital (TDC) converter to generate timestamps. A timestamp calibration circuit is provided on-board to record the propagation delay of each column of pixels in the pixel array and to provide necessary corrections to the timestamp values generated during 3D depth measurements.

    Mixed-precision compression with random access

    公开(公告)号:US11211944B2

    公开(公告)日:2021-12-28

    申请号:US16842682

    申请日:2020-04-07

    Inventor: Ilia Ovsiannikov

    Abstract: A data compressor includes a zero-value remover, a zero bit mask generator and a non-zero values packer. The zero-value remover receives 2N bit streams of values and outputs 2N non-zero-value bit streams having zero values removed from each respective bit stream based on a selected granularity of compression for values contained in the bit streams. The zero bit mask generator receives the 2N bit streams of values and generates a zero bit mask corresponding to the selected granularity of compression. Each zero bit mask indicates a location of a zero value based on the selected granularity of compression. The non-zero values packer receives the 2N non-zero-value bit streams and forms at least one first group of packed non-zero values.

    MIXED-PRECISION NEURAL-PROCESSING UNIT TILE
    33.
    发明申请

    公开(公告)号:US20200349106A1

    公开(公告)日:2020-11-05

    申请号:US16847504

    申请日:2020-04-13

    Inventor: Ilia Ovsiannikov

    Abstract: A processor. In some embodiments, the processor includes: a first tile, the first tile being configured: to feed a first nibble from a third queue, through a first shuffler, to a first multiplier, and to multiply, in the first multiplier, the first nibble from the third queue by a first nibble of a third weight; to feed a second nibble from the third queue, through the first shuffler, to a second multiplier, and to multiply, in the second multiplier, the second nibble from the third queue by a second nibble of the third weight; to feed a first nibble from a fourth queue, through the first shuffler, to a third multiplier, and to multiply, in the third multiplier, the first nibble from the fourth queue by a first nibble of a fourth weight.

    Time-resolving sensor using shared PPD+SPAD pixel and spatial-temporal correlation for range measurement

    公开(公告)号:US10735714B2

    公开(公告)日:2020-08-04

    申请号:US16422944

    申请日:2019-05-24

    Abstract: A Time-of-Flight (TOF) technique is combined with analog amplitude modulation within each pixel in a pixel array using multiple Single Photon Avalanche Diodes (SPADs) in conjunction with a single Pinned Photo Diode (PPD) in each pixel. A SPAD may be shared among multiple neighboring pixels. The TOF information is added to the received light signal by the analog domain-based single-ended to differential converter inside the pixel itself. The spatial-temporal correlation among outputs of multiple, adjacent SPADs in a pixel is used to control the operation of the PPD to facilitate recording of TOF values and range of an object. Erroneous range measurements due to ambient light are prevented by stopping the charge transfer from the PPD—and, hence, recording a TOF value—only when two or more SPADs in the pixel are triggered within a pre-defined time interval. An autonomous navigation system with multi-SPAD pixels provides improved vision for drivers under difficult driving conditions.

    Multiscale weighted matching and sensor fusion for dynamic vision sensor tracking

    公开(公告)号:US10510160B2

    公开(公告)日:2019-12-17

    申请号:US15458016

    申请日:2017-03-13

    Abstract: A Dynamic Vision Sensor (DVS) pose-estimation system includes a DVS, a transformation estimator, an inertial measurement unit (IMU) and a camera-pose estimator based on sensor fusion. The DVS detects DVS events and shapes frames based on a number of accumulated DVS events. The transformation estimator estimates a 3D transformation of the DVS camera based on an estimated depth and matches confidence-level values within a camera-projection model such that at least one of a plurality of DVS events detected during a first frame corresponds to a DVS event detected during a second subsequent frame. The IMU detects inertial movements of the DVS with respect to world coordinates between the first and second frames. The camera-pose estimator combines information from a change in a pose of the camera-projection model between the first frame and the second frame based on the estimated transformation and the detected inertial movements of the DVS.

    Systems and methods of selective output for reducing power

    公开(公告)号:US09967500B2

    公开(公告)日:2018-05-08

    申请号:US14678965

    申请日:2015-04-04

    CPC classification number: H04N5/378

    Abstract: An embodiment includes a system, comprising: a buffer configured to store a plurality of events, each event including a plurality of bits; an output circuit configured to output events from the buffer; and a controller coupled to the buffer and the output circuit and configured to: cause the output circuit to output a first event from the buffer; and select a second event from the buffer to be output by the output circuit after the first event based on bits associated with the first event.

    IMAGE SENSOR, IMAGE SENSING METHOD, AND IMAGE PHOTOGRAPHING APPARATUS INCLUDING IMAGE SENSOR
    40.
    发明申请
    IMAGE SENSOR, IMAGE SENSING METHOD, AND IMAGE PHOTOGRAPHING APPARATUS INCLUDING IMAGE SENSOR 有权
    图像传感器,图像感测方法和图像摄影装置,包括图像传感器

    公开(公告)号:US20160065822A1

    公开(公告)日:2016-03-03

    申请号:US14790359

    申请日:2015-07-02

    CPC classification number: H04N5/2353 H04N5/2354

    Abstract: An image sensor operates in a base mode according to a first sampling rate and a first pixel exposure time and includes a light condition detector that extracts illuminance information from a pixel signal received from pixels in a pixel array, and generates a low-illuminance information signal upon detecting that a value of the illuminance information falls within a first range, a sampling controller that changes the first sampling rate to a second sampling rate in response to the low-illuminance information signal, and an exposure time controller that changes the first pixel exposure time to a second pixel exposure time in response to the low-illuminance information signal.

    Abstract translation: 图像传感器根据第一采样率和第一像素曝光时间在基本模式下工作,并且包括光条件检测器,其从从像素阵列中的像素接收的像素信号中提取照度信息,并且生成低照度信息信号 一旦检测到照度信息的值落在第一范围内,则响应于低照度信息信号将第一采样率改变为第二采样率的采样控制器和改变第一像素曝光的曝光时间控制器 响应于低照度信息信号的时间到第二像素曝光时间。

Patent Agency Ranking