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    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。

    Long Range Steerable LIDAR System
    4.
    发明申请
    Long Range Steerable LIDAR System 有权
    长程指导激光雷达系统

    公开(公告)号：US20160291134A1

    公开(公告)日：2016-10-06

    申请号：US14679683

    申请日：2015-04-06

    Applicant: Google Inc.

    Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordach ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

    IPC: G01S7/48 ,  G01S17/06 ,  G01S17/93 ,  G01S7/481

    CPC classification number: G01S7/4802 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/87 ,  G01S17/936 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385

    Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

    Abstract translation: 描述了与光检测和测距（LIDAR）设备相关的系统和方法。 激光雷达装置包括被配置为发射波长范围内的光的光纤激光器，被配置为以围绕第一轴线往复运动的方式引导发射的光的扫描部分和被配置为感测波长范围内的光的多个检测器。 该装置还包括被配置为接收可以指示对象，位置，位置或角度范围的目标信息的控制器。 响应于接收到目标信息，控制器可以使旋转安装座旋转，以便调节激光雷达的指示方向。 控制器被进一步配置成使激光雷达扫描环境的视场（FOV）。 控制器可以基于来自扫描FOV的数据来确定环境的三维（3D）表示。

    Dynamic control of diode bias voltage (photon-caused avalanche)
    6.
    发明授权
    Dynamic control of diode bias voltage (photon-caused avalanche) 有权
    二极管偏置电压的动态控制（光子引起的雪崩）

    公开(公告)号：US09048370B1

    公开(公告)日：2015-06-02

    申请号：US13804455

    申请日：2013-03-14

    Applicant: Google Inc.

    Inventor： Chris Urmson ,  Pierre-yves Droz ,  Luke Wachter

    IPC: G01J1/44 ,  H01L31/107

    CPC classification number: H01L31/107 ,  G01R31/2635 ,  G01S7/497 ,  H01L31/02027

    Abstract: Methods and devices are provided for determining an operating bias voltage of a photodiode. One example method includes (i) varying a bias voltage of a photodiode; (ii) detecting spurious signals generated by the photodiode while varying the bias voltage of the photodiode; (iii) determining a threshold bias voltage at which a frequency of occurrence of the spurious signals reaches a threshold frequency; (iv) determining an operating bias voltage for the photodiode based on at least the threshold bias voltage; and (v) operating the photodiode with the operating bias voltage in a light-detection and ranging (LIDAR) system.

    Abstract translation: 提供了用于确定光电二极管的工作偏置电压的方法和装置。 一个示例性方法包括（i）改变光电二极管的偏置电压; （ii）检测由光电二极管产生的寄生信号，同时改变光电二极管的偏置电压; （iii）确定杂散信号的出现频率达到阈值频率的阈值偏置电压; （iv）至少基于所述阈值偏置电压确定所述光电二极管的工作偏置电压; 和（v）在光检测和测距（LIDAR）系统中操作具有工作偏置电压的光电二极管。

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