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    Microrod compression of laser beam in combination with transmit lens
    1.
    发明授权
    Microrod compression of laser beam in combination with transmit lens 有权
    激光束与发射透镜组合的微弧压缩

    公开(公告)号：US09086273B1

    公开(公告)日：2015-07-21

    申请号：US13790251

    申请日：2013-03-08

    Applicant: Google Inc.

    Inventor： Daniel Gruver ,  Pierre-Yves Droz ,  Gaetan Pennecot ,  Zachary Morriss ,  Dorel Ionut Iordache

    IPC: G01C3/08 ,  G01C3/02

    CPC classification number: G01C3/02 ,  G01S7/481 ,  G01S7/4812 ,  G01S7/4815 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

    Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. Each light source may include a respective laser diode and cylindrical lens. The laser diode may emit an uncollimated laser beam that diverges more in a first direction than in a second direction. The cylindrical lens may pre-collimate the uncollimated laser beam in the first direction to provide a partially collimated laser that diverges more in the second direction than in the first direction.

    Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 每个光源可以包括相应的激光二极管和柱面透镜。 激光二极管可以发射在第一方向上比在第二方向上发散更多的未被准直的激光束。 柱面透镜可以在第一方向上预先准直未经准直的激光束，以提供在第二方向上比在第一方向上更多地发散的部分准直激光。

    Methods and systems for detection of reflective markers at long range
    2.
    发明授权
    Methods and systems for detection of reflective markers at long range 有权
    用于检测远距离反射标记物的方法和系统

    公开(公告)号：US09080866B1

    公开(公告)日：2015-07-14

    申请号：US13927518

    申请日：2013-06-26

    Applicant: Google Inc.

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu ,  Pierre-yves Droz ,  Luke Wachter ,  Dorel Ionut Iordache

    IPC: G01B11/00 ,  G01S17/10 ,  G01B11/28 ,  G01S17/02

    CPC classification number: G01S17/026 ,  G01C3/08 ,  G01S7/4802 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00798 ,  G08G5/0026 ,  G08G5/065

    Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.

    Abstract translation: 提供了用于检测远距离反射标记的示例方法和系统。 示例性方法包括接收从车辆的环境的连续扫描收集的激光数据。 该方法还包括基于从相应的连续扫描收集的激光数据确定一个或多个对象的相应尺寸。 该方法可以进一步包括由计算设备确定并且至少部分地基于相应连续扫描的一个或多个对象的相应大小来确定作为与车辆距离的函数的尺寸变化的对象。 该方法还可以包括确定对象代表反射标记。 在一个示例中，计算设备可以使用一个反射标记的检测来帮助检测可能处于相似位置的后续反射标记。

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