公开(公告)号：US20240353546A1

公开(公告)日：2024-10-24

申请号：US18737658

申请日：2024-06-07

Applicant: Hesai Technology Co., Ltd.

Inventor： Pengchuan XIAO ,  Zhenlei Shao ,  Chengsheng LV ,  Ren Liao ,  Xiaolin Chai ,  Shaoqing Xiang

IPC: G01S7/497

CPC classification number: G01S7/4972

Abstract: A calibration method, a calibration device (M10), a calibration system, and a readable storage medium. the calibration method comprises: receiving a point cloud determined by a LiDAR (LS1) from a field of view, the point cloud being in a LiDAR coordinate system (S11); receiving a set of survey points determined from the field of view by a survey device (CH1), the set of survey points being in a survey coordinate system (S12); based on the point cloud and the set of survey points, determining a first transformation parameter between the LiDAR coordinate system and the survey coordinate system (S13); based on the first transformation parameter and the position and orientation information of the vehicle (CA1) in the survey coordinate system (S14), determining a calibration parameter (S14) between the LiDAR coordinate system and the vehicle coordinate system of the vehicle (CA1). Both the calibration efficiency and the calibration precision can be improved, and batch calibration is facilitated.

公开(公告)号：US12123983B2

公开(公告)日：2024-10-22

申请号：US16393388

申请日：2019-04-24

Applicant: THE BOEING COMPANY

Inventor： Nick S. Evans ,  Eric R. Muir ,  Kevin S. Callahan

IPC: G01C3/08 ,  B60Q1/26 ,  F16M11/12 ,  G01S7/497 ,  G03F1/38

CPC classification number: G01S7/4972 ,  B60Q1/2642 ,  F16M11/123 ,  B60R2300/301 ,  G03F1/38

Abstract: Systems and methods of aligning removable sensors mounted on a vehicle based upon sensor output of such sensors are described. Sensor output is collected from a removable sensor (e.g., a digital camera), and a representation of such sensor output is generated (e.g., a digital image). The representation of the sensor output is compared against a spatial template (e.g., a digital mask overlaid on the representation) to determine whether external references in the representation align with corresponding reference indicators in the spatial template. When alignment is required, the removable sensor is aligned by one or both of the following until the external references in a representation of sensor data at an updated current location align with the corresponding reference indicators in the spatial template: (i) adjusting the position of the removable sensor on the vehicle or (ii) adjusting the representation of the sensor output to simulate such repositioning.

公开(公告)号：US20240345232A1

公开(公告)日：2024-10-17

申请号：US18518699

申请日：2023-11-24

Applicant: Aeva, Inc.

Inventor： Anatoley T. Zheleznyak ,  Chris Roller ,  Gavin Rosenbush ,  Richard L. Sebastian

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/86 ,  G01S17/89

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89

Abstract: A system uses range and Doppler velocity measurements from a lidar subsystem and images from a video subsystem to estimate a six degree-of-freedom trajectory of a target. The video subsystem and the lidar subsystem may be aligned with one another by mapping the measurements of various facial features obtained by each of the subsystems to one another.

公开(公告)号：US20240329220A1

公开(公告)日：2024-10-03

申请号：US18742789

申请日：2024-06-13

Applicant: Brain Corporation

Inventor： Thomas Hrabe ,  Matt Atlas ,  Darin Velarde

IPC: G01S7/497 ,  B25J9/16 ,  B60W50/06 ,  G01D18/00 ,  H04N13/246

CPC classification number: G01S7/497 ,  B25J9/1692 ,  B25J9/1697 ,  B60W50/06 ,  H04N13/246 ,  G01D18/00 ,  G01S7/4972

Abstract: Systems and methods for calibrating a robot's sensors are disclosed. In one exemplary implementation, an environment comprising a plurality of sensor targets and a fixed position for a robot allows for faster, more accurate calibration of a robot's sensors.

公开(公告)号：US20240248180A1

公开(公告)日：2024-07-25

申请号：US18414494

申请日：2024-01-17

Applicant: Keisuke IKEDA ,  Hiroyuki SATOH ,  Soya HATAZAKI ,  Naoto NAKAMURA

Inventor： Keisuke IKEDA ,  Hiroyuki SATOH ,  Soya HATAZAKI ,  Naoto NAKAMURA

IPC: G01S7/4865 ,  G01S7/481 ,  G01S7/497 ,  G01S17/10 ,  G01S17/894

CPC classification number: G01S7/4865 ,  G01S7/4813 ,  G01S7/4972 ,  G01S17/10 ,  G01S17/894

Abstract: An image-capturing device includes: a casing elongated in one direction; a light receiver on one end of the casing in said one direction, a support on another end of the casing in said one direction; and a light emitter between the light receiver and the support in said one direction of the casing, to emit patterned light to a target object. The light receiver receives the patterned light reflected from the target object.

公开(公告)号：US20240241236A1

公开(公告)日：2024-07-18

申请号：US18261479

申请日：2022-01-12

Applicant: Innoviz Technologies Ltd.

Inventor： Gonen Weiss ,  Idan Bakish ,  Roi Mautner ,  Itay Tehori ,  Boaz Nemet ,  Yuval Yifat ,  David Elooz

IPC: G01S7/497 ,  G01S7/481

CPC classification number: G01S7/4972 ,  G01S7/4817

Abstract: A LIDAR having dynamic alignment capabilities, the LIDAR may include an optical unit that comprises a sensing unit, a processor and a compensation unit. The sensing unit may include a sensing array that comprises sets of sensing elements that are configured to sense reflected light impinging on sensing regions of the sets of sensing elements of the sensing array, during one or more sensing periods; wherein the sensing unit is configured to generate detection signals by the sensing elements of the sensing array. The processor may be configured to determine, based on at least some of the detection signals, one or more optical unit misalignments related to the optical unit of the LIDAR. The compensation unit may be configured to compensate for the one or more optical unit misalignment.

公开(公告)号：US20240230849A9

公开(公告)日：2024-07-11

申请号：US18131068

申请日：2023-04-05

Applicant: The Government of the United States of America, as represented by the Secretary of the Navy

Inventor： PETER J. OELSLAGER ,  Mathew J. Moody

IPC: G01S7/481 ,  G01S7/493 ,  G01S7/497 ,  G01S17/66 ,  H04B10/112

CPC classification number: G01S7/4816 ,  G01S7/493 ,  G01S7/4972 ,  G01S17/66 ,  H04B10/112

Abstract: A position-tracking apparatus includes a receiver, which includes a beam steerer oriented to receive a laser signal. The laser signal includes a modulated data signal, a carrier signal, and a tracking signal. The receiver includes a segmented photodiode in optical communication with the beam steerer, thereby receiving the laser signal. The segmented photodiode includes a plurality of active-area segments and a photodiode center. Each active-area segment of the plurality of active-area segments includes a peak tracking-signal power and/or a plurality of tracking-signal power minima, if the tracking signal is misaligned with the photodiode center. The apparatus includes a processor communicating with the beam steerer and the segmented photodiode. The processor is configured to determine an offset of the tracking signal from the photodiode center based on the peak tracking-signal power and/or the plurality of tracking-signal power minima and is configured to adjust the beam steerer based on the offset.

公开(公告)号：US20240210540A1

公开(公告)日：2024-06-27

申请号：US18395270

申请日：2023-12-22

Applicant: CHANGZHOU HUADA KEJIE OPTO-ELECTRO INSTRUMENT

Inventor： Ou ZHANG ,  Junichi KODAIRA ,  Zhu WEIPING

IPC: G01S7/497 ,  G01C15/00 ,  G01S7/481 ,  G01S17/18

CPC classification number: G01S7/4972 ,  G01C15/004 ,  G01S7/4814 ,  G01S7/4816 ,  G01S17/18

Abstract: The present disclosure relates to the field of architecture and civil engineering, in particular to a construction surveying system. A laser surveying system for setting out comprises a horizontal laser emitter for emitting horizontal laser beams in a sector; a vertical laser emitter for emitting vertical laser beams in a sector; a leveling laser rangefinder; and at least one laser receiver; The horizontal and vertical laser beams in a sector intersect at an intersection line, an optical axis of ranging beams of the leveling laser rangefinder coincides with the intersection line, the laser receiver includes a laser entrance window and a laser plummet, and an axis of the laser entrance window coincides with the intersection line. According to the present disclosure, the aim direction of the laser emitter can be indicated for operators by the intersection line of the laser beams in a sector. The distance between the laser emitter and the laser receiver is measured by the laser rangefinder whose axis coincides with the intersection line, and the beams are projected onto a surface to be surveyed by the laser plummet of the laser receiver so that the aim direction can be indicated for operators easily regardless of sloping or uneven ground, and the operator can mark coordinates along on the laser beams.

公开(公告)号：US20240203139A1

公开(公告)日：2024-06-20

申请号：US18408031

申请日：2024-01-09

Applicant: QUALCOMM Incorporated

Inventor： Albrecht Johannes LINDNER ,  Volodimir SLOBODYANYUK ,  Stephen Michael VERRALL ,  Kalin Mitkov ATANASSOV

IPC: G06V20/64 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G06T7/50 ,  G06V20/40 ,  H04N13/261

CPC classification number: G06V20/647 ,  G01S7/4972 ,  G01S17/86 ,  G01S17/89 ,  G06T7/50 ,  G06V20/46 ,  H04N13/261 ,  G06T2207/10024 ,  G06T2207/10028

Abstract: An electronic imaging device and method for image capture are described. The imaging device includes a camera configured to obtain image information of a scene and that may be focused on a region of interest in the scene. The imaging device also includes a LIDAR unit configured to obtain depth information of at least a portion of the scene at specified scan locations of the scene. The imaging device is configured to detect an object in the scene and provides specified scan locations to the LIDAR unit. The camera is configured to capture an image with an adjusted focus based on depth information, obtained by the LIDAR unit, associated with the detected object.

公开(公告)号：US12007228B2

公开(公告)日：2024-06-11

申请号：US17520496

申请日：2021-11-05

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G01B21/16 ,  G01C21/16 ,  G01C21/36 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/40 ,  G01S13/06 ,  G01S13/86

CPC classification number: G01B21/16 ,  G01C21/1652 ,  G01C21/1656 ,  G01C21/3602 ,  G01C25/00 ,  G01S7/4972 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/4026 ,  G01S13/06 ,  G01S13/86

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.