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公开(公告)号：US11668571B2
公开(公告)日：2023-06-06
申请号：US17176500
申请日：2021-02-16
发明人： Sebastien Derhy , Lior Zamir , Nathan Henri Levy
IPC分类号： G01C21/20 , G06T7/579 , G01C21/00 , G06T7/73 , A61B1/00 , G06V10/75 , G06V10/44 , G06V20/56 , G01C21/16
CPC分类号： G01C21/206 , A61B1/000094 , G01C21/3848 , G06T7/579 , G06T7/73 , G06V10/44 , G06V10/757 , G06V20/56 , G01C21/16
摘要： A method for simultaneous localization and mapping (SLAM) employs dual event-based cameras. Event streams from the cameras are processed by an image processing system to stereoscopically detect surface points in an environment, dynamically compute pose of a camera as it moves, and concurrently update a map of the environment. A gradient descent based optimization may be utilized to update the pose for each event or for each small batch of events.
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公开(公告)号：US11416759B2
公开(公告)日：2022-08-16
申请号：US15988005
申请日：2018-05-24
发明人： Itai Lang , Nathan Henri Levy
摘要： An event-based sensor includes a photoarray and a processing circuit. The photoarray includes an array of cells. Each cell includes a photosensor generating a sensor signal dependent on an intensity of light casted on the cell, and an intensity monitoring circuit outputting an ON signal when the light intensity is increasing and an OFF signal when the light intensity is decreasing. The processing circuit is configured to generate an event in response to the ON and OFF signals, filter out the events caused by flickering light, and pass the events caused by motion.
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公开(公告)号：US10812730B2
公开(公告)日：2020-10-20
申请号：US16042479
申请日：2018-07-23
发明人： Nathan Henri Levy , Ariel Orfaig , Sebastien Derhy , Shachaf Amir , Yoel Yaffe
摘要： Methods, apparatuses, and systems are described for positional tracking (PT) in Augmented Reality (AR) applications. The method may include creating different images for AR preview and PT applications. In some cases, the PT information utilizes key point information. The AR preview and the PT images may be generated simultaneously using time division, space division, split timing, or any combination thereof. This may result in PT with significantly less motion blur. Accordingly, the PT will be more robust, and there will be more good frames available for key components of a PT algorithm (i.e., using visual PT to calibrate the biases of an inertial measurement unit). Thus, the methods and apparatus of the present disclosure may enable more effective management of the trade-off between motion-blur, noise and resolution for PT.
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公开(公告)号：US20200029006A1
公开(公告)日：2020-01-23
申请号：US16042479
申请日：2018-07-23
发明人： Nathan Henri Levy , Ariel Orfaig , Sebastien Derhy , Shachaf Amir , Yoel Yaffe
摘要： Methods, apparatuses, and systems are described for positional tracking (PT) in Augmented Reality (AR) applications. The method may include creating different images for AR preview and PT applications. In some cases, the PT information utilizes key point information. The AR preview and the PT images may be generated simultaneously using time division, space division, split timing, or any combination thereof. This may result in PT with significantly less motion blur. Accordingly, the PT will be more robust, and there will be more good frames available for key components of a PT algorithm (i.e., using visual PT to calibrate the biases of an inertial measurement unit). Thus, the methods and apparatus of the present disclosure may enable more effective management of the trade-off between motion-blur, noise and resolution for PT.
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公开(公告)号：US10321112B2
公开(公告)日：2019-06-11
申请号：US15485392
申请日：2017-04-12
发明人： Yonathan Aflalo , Ariel Orfaig , Sagi Tzur , Ayal Keisar , Nathan Henri Levy
IPC分类号： H04N13/00 , H04N13/128 , H04N13/271 , H04N13/239 , G06T7/593 , G06T7/557 , H04N13/133
摘要： A first image and a second image of an object taken with different viewing directions are received. The first image and the second image are downscaled in a ratio of a downscale factor DF to generate a first downscaled image and a second downscaled image, respectively. An edge map is generated by detecting an edge pixel from the first downscaled image. An initial cost volume matrix is generated from the first downscaled image and the second downscaled image according to the edge map. An initial disparity estimate is generated from the initial cost volume matrix. The initial disparity estimate is refined using the initial disparity estimate to generate a final disparity set. A depth map is generated from the first image and the second image using the final disparity set.
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公开(公告)号：US20190075271A1
公开(公告)日：2019-03-07
申请号：US15697972
申请日：2017-09-07
发明人： ARIEL ORFAIG , Nathan Henri Levy
IPC分类号： H04N5/917 , G06F12/1018
摘要： Embodiments of a virtual frame buffer (VFB) for buffering asynchronous data originating from an imaging source such as a dynamic vision sensor. The VFB may include a hash table memory, a data memory, and a control unit. The control unit receives an input address of an asynchronous data event and determines a pseudo-randomly computed hash of the hash table memory at which to store the input address. The control unit links the hash to a handle corresponding to a data memory cell that stores pixel data of the event. The VFB may interface like a full frame buffer, but use significantly less memory. The VFB may be used with a pixel processing algorithm to search for recent events in a localized environment of a pixel.
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公开(公告)号：US10158815B2
公开(公告)日：2018-12-18
申请号：US15421874
申请日：2017-02-01
发明人： Yonathan Aflalo , Nathan Henri Levy
摘要： A method of detecting a bad pixel in an image sensor includes: determining, a first color of a center pixel of a Bayer patch output by the image sensor; extracting, a main patch, a first auxiliary patch, and a second auxiliary patch from the Bayer patch, having the first color, a second other color, and a third other color, respectively; generating a normalized patch of the first color from the main patch and the auxiliary patches that brings a level of the auxiliary patches to a level of the main patch; and detecting whether the center pixel of the Bayer patch is a bad pixel using the normalized patch.
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公开(公告)号：US20200058205A1
公开(公告)日：2020-02-20
申请号：US16103379
申请日：2018-08-14
发明人： Yoel YAFFE , Nathan Henri Levy
IPC分类号： G08B13/196 , H01L27/146 , H04N5/369
摘要： A pulsed image capturing system includes a pulse generation circuit, a dynamic vision sensor (DVS), and a DVS scanning and readout circuit. A global reset signal is transmitted to pixels of the DVS to set a reference illumination level for the pixels, and then a pulsed light pattern is generated. A global hold signal is transmitted to the pixels, after the pulsed light pattern is generated, to hold an illumination change event indicating a change with respect to the reference illumination level. A DVS scanning and readout operation is performed on event signals received from the pixels, after the global hold signal is transmitted to the pixels. A reflection of the pulsed light pattern is extracted from the DVS output after cleaning artifacts from the DVS output without additional image processing.
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公开(公告)号：US10257456B2
公开(公告)日：2019-04-09
申请号：US15697972
申请日：2017-09-07
发明人： Ariel Orfaig , Nathan Henri Levy
摘要： Embodiments of a virtual frame buffer (VFB) for buffering asynchronous data originating from an imaging source such as a dynamic vision sensor. The VFB may include a hash table memory, a data memory, and a control unit. The control unit receives an input address of an asynchronous data event and determines a pseudo-randomly computed hash of the hash table memory at which to store the input address. The control unit links the hash to a handle corresponding to a data memory cell that stores pixel data of the event. The VFB may interface like a full frame buffer, but use significantly less memory. The VFB may be used with a pixel processing algorithm to search for recent events in a localized environment of a pixel.
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公开(公告)号：US20170150076A1
公开(公告)日：2017-05-25
申请号：US14950050
申请日：2015-11-24
发明人： Uzi HIZI , Nathan Henri Levy , Mickey Bahar
CPC分类号： H04N5/35554 , H04N5/3532 , H04N5/3535 , H04N5/35563 , H04N5/374 , H04N5/3765
摘要： An image sensor includes a pixel array and a plurality of control circuits. The pixel array includes a plurality of sub-arrays arranged in a plurality of rows and columns, each of the plurality of sub-arrays including a plurality of pixels. The plurality of control circuits are coupled to the pixel array, and configured to control exposure of the plurality of sub-arrays. At least a first of the plurality of control circuits is configured to control exposure of a first of the plurality of sub-arrays according to a first set of exposure times. At least a second of the plurality of control circuits is configured to control exposure of a second of the plurality of sub-arrays according to a second set of exposure times. The first set of exposure times is different from the second set of exposure times.
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