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公开(公告)号：US12241618B2
公开(公告)日：2025-03-04
申请号：US18413494
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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公开(公告)号：US11904779B2
公开(公告)日：2024-02-20
申请号：US18100090
申请日：2023-01-23
Applicant: WAYMO LLC
Inventor： Kimberly Toth , Giulia Guidi , Choon Ping Chng
CPC classification number: B60R11/04 , G05D1/0088 , G06V10/141 , G06V20/59 , G08B21/24 , H04N5/58 , H04N23/56 , B60R2300/103 , B60R2300/105 , B60R2300/8006 , G05D2201/0213
Abstract: The technology provides an interior camera sensing system for self-driving vehicles. The sensor system includes image sensors and infrared illuminators to see the vehicle's cabin and storage areas in all ambient lighting conditions. The system can monitor the vehicle for safety purposes, to detect the cleanliness of the cabin and storage areas, as well as to detect whether packages or other objects have been inadvertently left in the vehicle. The cameras are arranged to focus on selected regions in the vehicle cabin and the system carries out certain actions in response to information evaluated for those regions. The interior space is divided into multiple zones assigned different coverage priorities. Regardless of elude size or configuration, certain actions are performed according to various ride checklists and the imagery detected by the interior cameras. The checklists include pre-ride, mid-ride, and post-ride checklists.
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公开(公告)号：US20230142300A1
公开(公告)日：2023-05-11
申请号：US18154361
申请日：2023-01-13
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
CPC classification number: F21V21/30 , B60Q3/51 , B60K35/00 , G01J1/00 , B60K2370/21 , B60K2370/332
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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公开(公告)号：US11505109B2
公开(公告)日：2022-11-22
申请号：US17125321
申请日：2020-12-17
Applicant: Waymo LLC
Inventor： Giulia Guidi
Abstract: The present disclosure relates to optical systems, vehicles, and methods that are configured to illuminate and image a wide field of view of an environment. An example optical system includes a camera having an optical axis and an outer lens element disposed along the optical axis. The optical system also includes a plurality of illumination modules, each of which includes at least one light-emitter device configured to emit light along a respective emission axis and a secondary optical element optically coupled to the at least one light-emitter device. The secondary optical element is configured to provide a light emission pattern having an azimuthal angle extent of at least 170 degrees so as to illuminate a portion of an environment of the optical system.
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公开(公告)号：US20220357186A1
公开(公告)日：2022-11-10
申请号：US17872244
申请日：2022-07-25
Applicant: Waymo LLC
Inventor： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
Abstract: A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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Patent Agency Ranking
公开(公告)号：US11493922B1
公开(公告)日：2022-11-08
申请号：US16737359
申请日：2020-01-08
Applicant: WAYMO LLC
Inventor： Peter Avram , Kimberly Toth , Jeremy Dittmer , Giulia Guidi
IPC: G05D1/00 , G01S17/86 , G01S7/481 , G01S13/86 , G01S7/02 , G01S17/89 , G01S13/89 , G05D1/02 , B60W60/00 , B60W10/18 , B60W10/20 , H04N5/235 , G06V20/58 , G06K9/62 , B60S1/56
Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.
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公开(公告)号：US10899267B2
公开(公告)日：2021-01-26
申请号：US16726489
申请日：2019-12-24
Applicant: Waymo LLC
Inventor： Giulia Guidi
Abstract: The present disclosure relates to optical systems, vehicles, and methods that are configured to illuminate and image a wide field of view of an environment. An example optical system includes a camera having an optical axis and an outer lens element disposed along the optical axis. The optical system also includes a plurality of illumination modules, each of which includes at least one light-emitter device configured to emit light along a respective emission axis and a secondary optical element optically coupled to the at least one light-emitter device. The secondary optical element is configured to provide a light emission pattern having an azimuthal angle extent of at least 170 degrees so as to illuminate a portion of an environment of the optical system.
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公开(公告)号：US12105200B2
公开(公告)日：2024-10-01
申请号：US17085259
申请日：2020-10-30
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia , Giulia Guidi
IPC: G01S17/89 , G01N21/359 , G01S7/484 , G01S7/4861
CPC classification number: G01S17/89 , G01N21/359 , G01S7/484 , G01S7/4861
Abstract: A system includes a near-infrared (NIR) illuminator, an NIR image sensor, a light detection and ranging (LIDAR) device, and control circuitry configured to perform operations. The operations include causing the NIR illuminator to illuminate a portion of an environment, and obtaining, from the NIR image sensor, NIR image data representing the portion of the environment illuminated by the NIR illuminator. The operations also include detecting a retroreflector within the NIR image data and, based on detecting the retroreflector within the NIR image, determining a position of the retroreflector within the environment. The operations further include, based on the position of the retroreflector within the environment, adjusting at least one parameter of the LIDAR device in connection with scanning the retroreflector.
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公开(公告)号：US12059994B2
公开(公告)日：2024-08-13
申请号：US18243238
申请日：2023-09-07
Applicant: Waymo LLC
Inventor： Giulia Guidi
CPC classification number: B60Q1/0023 , B60R11/04 , G03B15/02 , G01S7/4815
Abstract: The present disclosure relates to optical systems, vehicles, and methods that are configured to illuminate and image a wide field of view of an environment. An example optical system includes a camera having an optical axis and an outer lens element disposed along the optical axis. The optical system also includes a plurality of illumination modules, each of which includes at least one light-emitter device configured to emit light along a respective emission axis and a secondary optical element optically coupled to the at least one light-emitter device. The secondary optical element is configured to provide a light emission pattern having an azimuthal angle extent of at least 170 degrees so as to illuminate a portion of an environment of the optical system.
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公开(公告)号：US20240183519A1
公开(公告)日：2024-06-06
申请号：US18413494
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
CPC classification number: F21V21/30 , B60K35/00 , B60Q3/51 , G01J1/00 , B60K2360/21 , B60K2360/332
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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