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公开(公告)号：US20210327078A1
公开(公告)日：2021-10-21
申请号：US16894705
申请日：2020-06-05
发明人： Yibing Michelle Wang , Kwang Oh Kim , Lilong Shi
IPC分类号： G06T7/521
摘要： A camera system. In some embodiments, the camera system includes a first laser, a camera, and a processing circuit connected to the first laser and to the camera. The first laser may be steerable, and the camera may include a pixel including a photodetector and a pixel circuit, the pixel circuit including a first time-measuring circuit.
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公开(公告)号：US11988777B2
公开(公告)日：2024-05-21
申请号：US17583190
申请日：2022-01-24
IPC分类号： G01S7/4863 , G01N21/55 , G01S7/481 , G01S7/4865 , G01S17/89 , G01S17/894 , G04F10/00 , H04N23/56 , H04N23/80
CPC分类号： G01S7/4863 , G01N21/55 , G01S7/4816 , G01S7/4865 , G01S17/89 , G01S17/894 , G04F10/005 , H04N23/56 , H04N23/80
摘要： An image sensor includes a time-resolving sensor and a processor. The time-resolving sensor outputs a first signal and a second signal pair in response detecting one or more photons that have been reflected from an object. A first ratio of a magnitude of the first signal to a sum of the magnitude of the first signal and a magnitude of the second signal is proportional to a time of flight of the one or more detected photons. A second ratio of the magnitude of the second signal to the sum of the magnitude of the first signal and the magnitude of the second signal is proportional to the time of flight of the one or more detected photons. The processor determines a surface reflectance of the object where the light pulse has been reflected based on the first signal and the second signal pair and may generate a grayscale image.
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公开(公告)号：US11947046B2
公开(公告)日：2024-04-02
申请号：US17583190
申请日：2022-01-24
IPC分类号： G01S7/4863 , G01N21/55 , G01S7/481 , G01S7/4865 , G01S17/89 , G01S17/894 , G04F10/00 , H04N23/56 , H04N23/80
CPC分类号： G01S7/4863 , G01N21/55 , G01S7/4816 , G01S7/4865 , G01S17/89 , G01S17/894 , G04F10/005 , H04N23/56 , H04N23/80
摘要： An image sensor includes a time-resolving sensor and a processor. The time-resolving sensor outputs a first signal and a second signal pair in response detecting one or more photons that have been reflected from an object. A first ratio of a magnitude of the first signal to a sum of the magnitude of the first signal and a magnitude of the second signal is proportional to a time of flight of the one or more detected photons. A second ratio of the magnitude of the second signal to the sum of the magnitude of the first signal and the magnitude of the second signal is proportional to the time of flight of the one or more detected photons. The processor determines a surface reflectance of the object where the light pulse has been reflected based on the first signal and the second signal pair and may generate a grayscale image.
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公开(公告)号：US11733384B2
公开(公告)日：2023-08-22
申请号：US16379782
申请日：2019-04-09
发明人： Lilong Shi , Yibing Michelle Wang
IPC分类号： G01C3/08 , G01S17/10 , G01S7/4865 , G01S7/48 , G01B9/02001 , G01S17/36
CPC分类号： G01S17/10 , G01B9/02014 , G01S7/4808 , G01S7/4865 , G01S17/36
摘要： A system and a method determines a traveling time for a light pulse between a light pulse source and a pixel of a light sensor array based on a “Find Frequent Items in a Data Steam” technique. In one embodiment, raw timestamp data output from a pixel as a data stream may be temporarily stored, processed twice and then discarded to provide an exact determination of a traveling time estimate. In another embodiment, the raw timestamp data is processed once and discarded to provide an approximate determination of a traveling time estimate. The traveling time estimate may be updated during processing and the most-frequently occurring timestamp is available when processing the data stream is complete. There is no need to keep the raw data in a memory, thereby reducing the memory requirement associated with determining the traveling time of a light pulse.
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公开(公告)号：US20230005170A1
公开(公告)日：2023-01-05
申请号：US17943068
申请日：2022-09-12
发明人： Yibing Michelle Wang , Kwang Oh Kim , Lilong Shi
IPC分类号： G06T7/521
摘要： A camera system. In some embodiments, the camera system includes a first laser, a camera, and a processing circuit connected to the first laser and to the camera. The first laser may be steerable, and the camera may include a pixel including a photodetector and a pixel circuit, the pixel circuit including a first time-measuring circuit.
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公开(公告)号：US11348954B2
公开(公告)日：2022-05-31
申请号：US16409767
申请日：2019-05-10
发明人： Yibing Michelle Wang , Lilong Shi , Kwang Oh Kim , Chunji Wang
IPC分类号： H01L27/146 , G01S17/10 , G01S17/894 , G01S7/4863 , G01S7/4865
摘要： A pixel of an image sensor includes a pinned photodiode (PPD), a switching device and an output circuit. A first terminal of the switching device is coupled to the PPD. A second terminal of the switching device is coupled to a floating diffusion (FD). A third terminal of the switching device is coupled to a first enable signal and a second enable signal. The switching device is responsive to the first enable signal to transfer a first charge on the PPD to the FD, and responsive to the second enable signal to transfer a second charge on the PPD to the FD. The output circuit outputs a first voltage based on the first charge and outputs a second voltage based on the second charge in which the first voltage corresponds to a time of flight of one or more detected photons and the second voltage corresponds to a greyscale image.
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公开(公告)号：US11297300B2
公开(公告)日：2022-04-05
申请号：US15928081
申请日：2018-03-21
发明人： Lilong Shi
IPC分类号： H04N13/271 , G01B11/25 , H04N13/254 , H04N13/239
摘要： A structured-light pattern for a structured-light system includes a base light pattern having a row of a plurality of sub-patterns extending in a first direction. Each sub-pattern is adjacent to at least one other sub-pattern. Each sub-pattern is different from each other sub-pattern. Each sub-pattern includes n dots in a sub-row and n dots in a sub-column in which n is an integer. Each dot is substantially a same size. Each sub-row extends in the first direction, and each sub-column extends in a second direction that is substantially orthogonal to the first direction. The dots that are aligned in a sub-column are offset in the second direction from the dots of the base light pattern that are aligned in an adjacent sub-column. In one embodiment, a size of each sub-pattern in the second direction is larger than a size of each sub-pattern in the first direction by a stretching factor.
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公开(公告)号：US11294039B2
公开(公告)日：2022-04-05
申请号：US16140529
申请日：2018-09-24
IPC分类号： G01S7/4863 , G04F10/00 , G01S17/89 , G01S7/4865
摘要： An image sensor includes a time-resolving sensor and a processor. The time-resolving sensor outputs a first signal and a second signal pair in response detecting one or more photons that have been reflected from an object. A first ratio of a magnitude of the first signal to a sum of the magnitude of the first signal and a magnitude of the second signal is proportional to a time of flight of the one or more detected photons. A second ratio of the magnitude of the second signal to the sum of the magnitude of the first signal and the magnitude of the second signal is proportional to the time of flight of the one or more detected photons. The processor determines a surface reflectance of the object where the light pulse has been reflected based on the first signal and the second signal pair and may generate a grayscale image.
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公开(公告)号：US10885648B2
公开(公告)日：2021-01-05
申请号：US16186463
申请日：2018-11-09
发明人： Lilong Shi , Yibing Michelle Wang
IPC分类号： G06T7/521 , H04N13/254 , H04N13/271 , H04N13/00
摘要： A method of reconstructing a three dimensional image using a structured light pattern system is provided as follows. A class identifier of an observed pixel on a captured image by a camera is extracted. The observed pixel has a coordinate (x, y) on the captured image. A first relative position of the x coordinate of the observed pixel in a tile domain of the captured image is calculated. A second relative position of one of a plurality of dots in a tile domain of a reference image using the extracted class identifier is calculated. A disparity of the observed pixel using the first relative position and the second relative position is calculated.
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公开(公告)号：US10733760B2
公开(公告)日：2020-08-04
申请号：US16597846
申请日：2019-10-09
摘要： 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.
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