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公开(公告)号：US20230097592A1
公开(公告)日：2023-03-30
申请号：US17490991
申请日：2021-09-30
Applicant: Waymo LLC
Inventor： Jia Feng , Lucian Ion
Abstract: Described examples relate to an apparatus comprising a memory for storing image frames and at least one processor. The at least one processor may be configured to receive a plurality of image frames from an image capture device and downsize each of the plurality image frames to generate a plurality of versions of each image frame at a plurality of different sizes. The at least one processor may also be configured to determine alignment information for a first version of a first image frame. The alignment information may include a first alignment vector for identifying image data in a first version of a second image frame that corresponds to image data in the first version of the first image frame. Further, the at least one processor may be configured to determine a first initial alignment vector for identifying image data in a first version of a third image frame based on at least the first alignment vector.
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公开(公告)号：US11428550B2
公开(公告)日：2022-08-30
申请号：US16808314
申请日：2020-03-03
Applicant: Waymo LLC
Inventor： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
Abstract: A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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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
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：US20220221140A1
公开(公告)日：2022-07-14
申请号：US17657554
申请日：2022-03-31
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：US11310451B1
公开(公告)日：2022-04-19
申请号：US16808268
申请日：2020-03-03
Applicant: Waymo LLC
Inventor： Lucian Ion , Nirav Dharia , Vlad Cardei
IPC: H04N5/372
Abstract: An apparatus includes an image sensor having a plurality of pixels that form regions of interest (ROIs), analog-to-digital converter (ADC) banks, and multiplexers. Each respective multiplexer is electrically connected to (i) a corresponding ADC bank and (ii) a corresponding subset of the ROIs. The apparatus also includes control circuitry configured to obtain a full-resolution image of an environment by electrically connecting, by way of the multiplexers, each respective ADC bank to the associated respective ROI. The control circuitry is also configured to select a particular ROI based on the full-resolution image and obtain a plurality of ROI images of the particular ROI by (i) electrically connecting, to the particular ROI, a first ADC bank associated with the particular ROI and a second ADC bank associated with another ROI and (ii) digitizing pixels of the particular ROI by way of parallel operation of the first and second ADC banks.
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Patent Agency Ranking
公开(公告)号：US11284021B1
公开(公告)日：2022-03-22
申请号：US16730760
申请日：2019-12-30
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
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：US11269066B2
公开(公告)日：2022-03-08
申请号：US16386782
申请日：2019-04-17
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion
IPC: G01S7/497 , G01S17/10 , G01S17/931 , G05D1/02
Abstract: Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.
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公开(公告)号：US20210305295A1
公开(公告)日：2021-09-30
申请号：US17346738
申请日：2021-06-14
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei , Carl Warren Craddock
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：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
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：US11037968B2
公开(公告)日：2021-06-15
申请号：US16376634
申请日：2019-04-05
Applicant: Waymo LLC
Inventor： Lucian Ion , Vlad Constantin Cardei , Carl Warren Craddock
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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