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公开(公告)号：US11627298B2
公开(公告)日：2023-04-11
申请号：US17549675
申请日：2021-12-13
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
摘要： An optical system for collecting distance information within a field is provided. The optical system may include lenses for collecting photons from a field and may include lenses for distributing photons to a field. The optical system may include lens tubes that collimate collected photons, optical filters that reject normally incident light outside of the operating wavelength, and pixels that detect incident photons. The optical system may further include illumination sources that output photons at an operating wavelength.
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公开(公告)号：US11209544B2
公开(公告)日：2021-12-28
申请号：US17347174
申请日：2021-06-14
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
IPC分类号： G01S17/00 , G01S17/10 , H01L27/146 , H01L31/107 , G01S7/497 , G01S7/4865 , G01S7/4863 , G01S7/481 , G01S17/89 , G01S17/42
摘要： A light ranging system can include a laser device and an imaging device having photosensors. The laser device illuminates a scene with laser pulse radiation that reflects off of objects in the scene. The reflections can vary greatly depending on the reflecting surface shape and reflectivity. The signal measured by photosensors can be filtered with a number of matched filter designed according to profiles of different reflected signals. A best matched filter can be identified, and hence information about the reflecting surface and accurate ranging information can be obtained. The laser pulse radiation can be emitted in coded pulses by allowing weights to different detection intervals. Other enhancements include staggering laser pulses and changing an operational status of photodetectors of a pixel sensor, as well as efficient signal processing using a sensor chip that includes processing circuits and photosensors.
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公开(公告)号：US11202056B2
公开(公告)日：2021-12-14
申请号：US16584515
申请日：2019-09-26
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
摘要： An optical system for collecting distance information within a field is provided. The optical system may include lenses for collecting photons from a field and may include lenses for distributing photons to a field. The optical system may include lenses that collimate photons passed by an aperture, optical filters that reject normally incident light outside of the operating wavelength, and pixels that detect incident photons. The optical system may further include illumination sources that output photons at an operating wavelength.
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公开(公告)号：US11025885B2
公开(公告)日：2021-06-01
申请号：US15880491
申请日：2018-01-25
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
摘要： An optical system for collecting distance information within a field is provided. The optical system may include lenses for collecting photons from a field and may include lenses for distributing photons to a field. The optical system may include lenses that collimate photons passed by an aperture, optical filters that reject normally incident light outside of the operating wavelength, and pixels that detect incident photons. The optical system may further include illumination sources that output photons at an operating wavelength.
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公开(公告)号：US11016193B2
公开(公告)日：2021-05-25
申请号：US16028178
申请日：2018-07-05
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
IPC分类号： G01S17/00 , G01S17/08 , G01S17/89 , G01S7/497 , G01S7/481 , G01S17/10 , G01S7/4863 , B81B5/00 , G01S17/931 , H01L31/02 , G01S17/88 , G02B27/30 , H01L27/146 , G02B26/10 , G06K9/00 , G02B3/00 , G02B26/08 , H01L25/16 , H01S5/183 , H01S5/40
摘要： Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element.
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公开(公告)号：US10830892B2
公开(公告)日：2020-11-10
申请号：US16209869
申请日：2018-12-04
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl , Marvin Shu , Eric Younge
IPC分类号： G01S17/89 , G01S17/42 , G01S7/486 , G01S7/481 , B60L3/00 , H01S5/14 , H02J7/02 , G01S7/4863 , G01S7/497 , G01S17/931 , G01S17/10 , H01F38/14 , H05K1/02 , H05K1/14 , H05K1/18 , H05K5/00 , H04B10/114 , G02B3/00 , H02J50/10 , G05D1/02 , H02K11/00
摘要： A light ranging system including a housing; a shaft defining an axis of rotation; a first circuit board assembly disposed within and coupled to the housing in a fixed relationship such that the first circuit board assembly is aligned along a first plane perpendicular to the axis of rotation, the first circuit board assembly including a plurality of first circuit elements disposed on a first circuit board; a second circuit board assembly spaced apart from the first circuit board assembly within the housing in a second plane parallel to the first plane and rotationally coupled to the shaft such that the second circuit board assembly rotates about the axis of rotation, the second circuit board assembly including a plurality of second circuit elements disposed on a second circuit board and aligned with and configured to function in wireless cooperation with at least one of the first plurality of circuit elements; and a light ranging device electrically connected to and coupled to rotate with the second circuit board assembly, the light ranging device configured to transmit light pulses to objects in a surrounding environment, to detect reflected portions of the light pulses that are reflected from the objects in the surrounding environment, and to compute ranging data based on the reflected portion of the light pulses.
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公开(公告)号：US10809380B2
公开(公告)日：2020-10-20
申请号：US15980509
申请日：2018-05-15
申请人： Ouster, Inc.
发明人： Angus Pacala
IPC分类号： G01C3/08 , G01S17/931 , H04N5/235 , G06T7/50 , G01S17/89 , G01S7/481 , G01S7/497 , G01S7/51 , G01S17/42 , H04N5/232 , H04N9/04 , G01S17/86
摘要： Methods and systems can augment 360 degree panoramic LIDAR results (e.g., from a spinning LIDAR system) with color obtained from color cameras. A color-pixel-lookup table can specify the correspondence between LIDAR pixels (depth/ranging pixels) and color pixels, which may be done at different viewing object distances. The operation of the color cameras can be triggered by the angular positions of the LIDAR system. For example, a color image of a particular camera can be captured when the LIDAR system is at a particular angular position, which can be predetermined based on properties of the cameras (e.g., shutter speed). Alternatively or in addition, a common internal clock can be used to assign timestamps to LIDAR and color pixels as they are captured. The corresponding color pixel(s), e.g., as determined using a color-pixel-lookup table, with the closest timestamp can be used for colorization.
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公开(公告)号：US10739189B2
公开(公告)日：2020-08-11
申请号：US16534838
申请日：2019-08-07
申请人： Ouster, Inc.
发明人： Angus Pacala , Mark Frichtl
摘要： A multispectral sensor array can include a combination of ranging sensor channels (e.g., LIDAR sensor channels) and ambient-light sensor channels tuned to detect ambient light having a channel-specific property (e.g., color). The sensor channels can be arranged and spaced to provide multispectral images of a field of view in which the multispectral images from different sensors are inherently aligned with each other to define an array of multispectral image pixels. Various optical elements can be provided to facilitate imaging operations. Light ranging/imaging systems incorporating multispectral sensor arrays can operate in rotating and/or static modes.
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公开(公告)号：US20190179320A1
公开(公告)日：2019-06-13
申请号：US16213827
申请日：2018-12-07
申请人： Ouster, Inc.
发明人： Angus Pacala , Dmitri GARBUZOV , Daniel LU
摘要： Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.
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公开(公告)号：US20190178998A1
公开(公告)日：2019-06-13
申请号：US16213784
申请日：2018-12-07
申请人： Ouster, Inc.
发明人： Angus Pacala , Dmitri Garbuzov , Daniel Lu , Kairen Wong
摘要： Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.
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