公开(公告)号：US20240264286A1

公开(公告)日：2024-08-08

申请号：US18626820

申请日：2024-04-04

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Yilun ZHOU ,  Xianling SHI ,  Guoliang CAO ,  Zhizhen HUANG ,  Anliang YU

IPC: G01S7/4865 ,  G01S7/484 ,  G01S17/10

CPC classification number: G01S7/4866 ,  G01S7/484 ,  G01S17/10

Abstract: Example control methods and apparatuses, example LiDARs, and example terminal devices are provided. One example method includes controlling a transmitter to transmit a first pulse train, where the first pulse train includes M1 first-type pulses and M2 second-type pulses, M1 is an integer greater than 1, and M2 is a positive integer. The transmitter is controlled to transmit a second pulse train, where the second pulse train includes at least one of M3 first-type pulses or Ma second-type pulses, where a power of a first-type pulse is greater than a power of a second-type pulse, and where the second pulse train and the first pulse train have different transmission time periods, or correspond to different sub-emitters, or correspond to different pixels in a detection field of view, or correspond to different detection fields of view, or correspond to different sub-receivers.

公开(公告)号：US20240202948A1

公开(公告)日：2024-06-20

申请号：US18574049

申请日：2021-07-05

Applicant: SHANGHAITECH UNIVERSITY

Inventor： Siyuan SHEN ,  Zi WANG ,  Shiying LI ,  Jingyi YU

IPC: G06T7/521 ,  G01S7/4865 ,  G01S17/42 ,  G01S17/894 ,  G06T7/557 ,  G06T7/77

CPC classification number: G06T7/521 ,  G01S7/4866 ,  G01S17/42 ,  G01S17/894 ,  G06T7/557 ,  G06T7/77 ,  G06T2207/10028 ,  G06T2207/10052 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A novel neural modeling framework Neural Transient Field (NeTF) is provided for non-line-of-sight (NLOS) imaging. NeTF recovers the 5D transient function in both spatial location and direction, and the training data input is parametrized on the spherical wave-fronts. A Markov chain Monte Carlo (MCMC) algorithm is used to account for sparse and unbalanced sampling in NeTF.

公开(公告)号：US20230204733A1

公开(公告)日：2023-06-29

申请号：US18087806

申请日：2022-12-22

Applicant: SUTENG INNOVATION TECHNOLOGY CO., LTD.

Inventor： Jincheng YANG ,  Yalin REN

IPC: G01S7/4865

CPC classification number: G01S7/4866 ,  G01S17/10

Abstract: This application discloses a time-of-flight measurement method, apparatus, and system. The method includes obtaining histogram data of a target object. The histogram data includes m counts, m is an integer greater than 1, and each of the m counts is associated with a time. The method also includes performing digital filtering on the m counts to obtain m filtered values respectively corresponding to the m counts, and determining a time of flight of the target object based on a time corresponding to a peak value in the m filtered values.

公开(公告)号：US20180239002A1

公开(公告)日：2018-08-23

申请号：US15896680

申请日：2018-02-14

Applicant: odos imaging Ltd.

Inventor： Chris Yates ,  Chris Softley

IPC: G01S7/486 ,  G01S17/08

CPC classification number: G01S7/4866 ,  G01S7/4863 ,  G01S7/497 ,  G01S17/08 ,  G01S17/107

Abstract: A distance camera includes at least one photo element, a trigger generator activating the photo element during a temporal integration gate, a light source illuminating an object with light pulses having a predetermined temporal intensity profile with a duration Tp, and an intensity sensor determining the intensity Ip of the light pulses arriving on the photo element. The integration gate has a predetermined delay to the light pulse emission start point in order to capture the light pulses back reflected from the object. The photo element outputs a signal value U at an integration end point in time T1e and in accordance with an intensity Ip and a duration of the light pulse arriving on the photo element during its activation.

公开(公告)号：US20130088726A1

公开(公告)日：2013-04-11

申请号：US13645952

申请日：2012-10-05

Applicant: Vivek K. Goyal ,  Ghulam Ahmed Kirmani

Inventor： Vivek K. Goyal ,  Ghulam Ahmed Kirmani

IPC: G01B11/02

CPC classification number: G01S17/89 ,  G01S7/4817 ,  G01S7/4866 ,  G01S17/10 ,  H04N13/254

Abstract: Depth information about a scene of interest is acquired by illuminating the scene, capturing reflected light energy from the scene with one or more photodetectors, and processing resulting signals, in at least one embodiment, a pseudo-randomly generated series of spatial light modulation patterns is used to modulate the light pulses either before or after reflection.

Abstract translation: 通过照亮场景获取关于感兴趣场景的深度信息，通过一个或多个光电探测器捕获来自场景的反射光能，并且在至少一个实施例中处理结果信号，伪随机生成的一系列空间光调制模式是 用于在反射之前或之后调制光脉冲。

公开(公告)号：US20230366992A1

公开(公告)日：2023-11-16

申请号：US18226052

申请日：2023-07-25

Applicant: ORBBEC INC.

Inventor： Hongtao YU ,  Minrong MENG ,  Tao GU

IPC: G01S7/4865 ,  G01S7/4915 ,  G01S17/894 ,  G06T7/521

CPC classification number: G01S7/4866 ,  G01S7/4915 ,  G01S17/894 ,  G06T7/521 ,  G06T2207/10028 ,  G06T2200/28

Abstract: A time-of-flight depth calculation method includes: obtaining a phase image, and obtaining, based on the phase image, a differential ratio of charge signals corresponding to reflected signals acquired by an image sensor at different times; in response to that the differential ratio of the charge signals is greater than or equal to a threshold, obtaining a first phase based on a phase conversion model and the differential ratio of the charge signals; and calculating a depth value of a target region based on the first phase.

公开(公告)号：US11681029B2

公开(公告)日：2023-06-20

申请号：US17092162

申请日：2020-11-06

Applicant: Zoox, Inc.

Inventor： Subasingha Shaminda Subasingha ,  Riley Andrews ,  Turhan Karadeniz ,  Ravi Sankar Mahankali

IPC: G01S7/48 ,  G01S7/4865 ,  G01S7/487 ,  G01S7/4863

CPC classification number: G01S7/4866 ,  G01S7/4873 ,  G01S7/4863

Abstract: A time delay of arrival (TDOA) between a time that a light pulse was emitted to a time that a pulse reflected off an object was received at a light sensor may be determined for saturated signals by using an edge of the saturated signal, rather than a peak of the signal, for the TDOA calculation. The edge of the saturated signal may be accurately estimated by fitting a first polynomial curve to data points of the saturated signal, defining an intermediate magnitude threshold based on the polynomial curve, fitting a second polynomial curve to data points near an intersection of the first polynomial curve and the intermediate threshold, and identifying an intersection of the second polynomial curve and the intermediate threshold as the rising edge of the saturated signal.

公开(公告)号：US20190011558A1

公开(公告)日：2019-01-10

申请号：US15645311

申请日：2017-07-10

Applicant: Blackmore Sensors and Analytics Inc.

Inventor： Stephen C. Crouch ,  Krishna Rupavatharam

IPC: G01S17/10 ,  H04L12/28 ,  H04B10/516 ,  H04B10/50 ,  G08G1/16 ,  G08G1/04 ,  G01S17/93 ,  G01S7/486

CPC classification number: G01S17/102 ,  G01S7/4866 ,  G01S7/4915 ,  G01S17/325 ,  G01S17/89 ,  G01S17/936 ,  G08G1/04 ,  G08G1/16 ,  H04B10/505 ,  H04B10/516 ,  H04L12/2801

Abstract: Doppler correction of broadband LIDAR includes mixing, during a first time interval, a returned optical signal with an in-phase version of the transmitted signal to produce a first mixed optical signal that is detected during the first time interval to produce a first electrical signal. During a non-overlapping second time interval the returned optical signal is mixed with a quadrature version of the transmitted signal to produce a second mixed optical signal that is detected during the second time interval to produce a second electrical signal. A complex digital signal uses one of the digitized electrical signals as a real part and a different one as the imaginary part. A signed Doppler frequency shift of the returned optical signal is determined based, at least in part, on a Fourier transform of the complex digital signal. A device is operated based on the Doppler frequency shift.

公开(公告)号：US08567251B2

公开(公告)日：2013-10-29

申请号：US12678649

申请日：2008-09-22

Applicant: Roland Welle ,  Karl Griessbaum

Inventor： Roland Welle ,  Karl Griessbaum

IPC: G01N29/48 ,  G01N29/44

CPC classification number: G01S7/2922 ,  G01S7/414 ,  G01S7/4866 ,  G01S7/4873 ,  G01S7/527

Abstract: A method and device for selecting echoes from an echo list. The method includes receiving an echo list, the echo list including a plurality of current echoes, at least two current echoes of the plurality of current echoes including a relationship correlation. The method also includes weighting at least one assignment of at least one current echo of the plurality of current echoes of at least one past echo of at least one past echo function. The method also includes selecting an assignment of at least one current echo to the at least one past echo of the at least one past echo function such that a predeterminable selection criterion is fulfilled. The selection of the assignment takes into account the relationship correlation between the at least two current echoes of the plurality of current echoes.

Abstract translation: 一种用于从回波列表中选择回波的方法和设备。 所述方法包括：接收回波列表，所述回波列表包括多个当前回波，所述多个当前回波中的至少两个当前回波包括关系相关性。 该方法还包括对至少一个过去回波函数的至少一个过去回波的多个当前回波的至少一个当前回波的至少一个赋值进行加权。 该方法还包括选择至少一个当前回波到至少一个过去回波函数的至少一个过去回波的分配，使得满足可预定的选择标准。 分配的选择考虑了多个当前回波中的至少两个当前回波之间的关系相关性。

公开(公告)号：US20130162778A1

公开(公告)日：2013-06-27

申请号：US13718012

申请日：2012-12-18

Applicant: SEMICONDUCTOR ENERGY LABORATORY CO. ,LTD

Inventor： Yoshiyuki KUROKAWA

IPC: H04N13/02

CPC classification number: H04N13/20 ,  G01S7/4861 ,  G01S7/4866 ,  G01S17/50 ,  G01S17/89 ,  G06T7/248 ,  G06T2207/10028 ,  H01L27/14601

Abstract: A motion recognition device capable of recognizing the motion of an object without contact with the object is provided. Further, a motion recognition device that has a simple structure and can recognize the motion of an object regardless of the state of the object is provided. By using a 3D TOF range image sensor in the motion recognition device, information on changes in position and shape is detected easily. Further, information on changes in position and shape of a fast-moving object is detected easily. Motion recognition is performed on the basis of pattern matching. Imaging data used for pattern matching is acquired from a 3D range measuring sensor. Object data is selected from imaging data on an object that changes over time, and motion data is estimated from a time change in selected object data. The motion recognition device performs operation defined by output data generated from the motion data.

Abstract translation: 提供能够识别物体的运动而不与物体接触的运动识别装置。 此外，提供了具有简单结构并且可以识别对象的运动的运动识别装置，而不管对象的状态如何。 通过在运动识别装置中使用3D TOF范围图像传感器，容易检测关于位置和形状变化的信息。 此外，容易地检测关于快速移动物体的位置和形状的变化的信息。 基于模式匹配进行运动识别。 从3D范围测量传感器获取用于模式匹配的成像数据。 从随时间变化的对象的成像数据中选择对象数据，并且根据所选对象数据的时间变化来估计运动数据。 运动识别装置执行由运动数据生成的输出数据所定义的操作。