公开(公告)号：US11609313B2

公开(公告)日：2023-03-21

申请号：US16229193

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/48 ,  G01S17/89 ,  G06T1/00 ,  G01S7/4865 ,  G01S7/481 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US12032097B2

公开(公告)日：2024-07-09

申请号：US18171883

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/48 ,  G01S7/481 ,  G01S7/4865 ,  G01S17/931

CPC classification number: G01S7/4865 ,  G01S7/4804 ,  G01S7/4816 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US20230194681A1

公开(公告)日：2023-06-22

申请号：US18171883

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/4865 ,  G01S7/48 ,  G01S7/481 ,  G01S17/931

CPC classification number: G01S7/4865 ,  G01S7/4804 ,  G01S7/4816 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.