公开(公告)号：WO2022194676A1

公开(公告)日：2022-09-22

申请号：PCT/EP2022/056236

申请日：2022-03-10

Applicant: PROPHESEE

Inventor： VEJARANO, Camilo ,  ROUCH, Thomas

IPC: G01N15/14 ,  G01N15/10

Abstract: A method for measuring attributes of a particle in motion comprises observing a region of interest with an event-based sensor oriented such that lines of a pixel array of the sensor lie across an expected trajectory of the particle (P) through the region of interest; defining two reference lines of pixels (R1, R2) separated by a spatial distance (D); sampling a first group of events produced by a first of the two reference lines; sampling a second group of events produced by the second of the two reference lines; determining a temporal distance (T) between the second and first groups of events; and providing a longitudinal speed factor (vy) of the particle based on the spatial distance and the temporal distance. The particles have a size spanning multiple adjacent pixels in a line, and the method further comprises analyzing one of the first and second groups of events over multiple time steps in order to produce an outline of the particle in space-time coordinates (x, t) including spatial components based on positions of event-triggered pixels in the lines and temporal components based on the time steps; and converting the space-time coordinates of the outline to spatial coordinates (x', y') by multiplying the time steps (t) of the space- time coordinates by the longitudinal speed factor (vy).

公开(公告)号：WO2020169835A1

公开(公告)日：2020-08-27

申请号：PCT/EP2020/054688

申请日：2020-02-21

Applicant: PROPHESEE

Inventor： CHICAN, Guillaume ,  BRAMBILLA, Manuele ,  LAGORCE, Xavier

IPC: G01B11/25

Abstract: The present disclosure generally relates to systems and methods for three- dimensional image sensing. More specifically, and without limitation, this disclosure relates to systems and methods for detecting three-dimensional images, and using asynchronous image sensors for detecting the same. In one implementation, at least one processor determines a plurality of patterns associated with a plurality of electromagnetic pulses emitted by a projector onto a scene; receives, from an image sensor, one or more first signals based on reflections caused by the plurality of electromagnetic pulses; detects one or more first events corresponding to one or more first pixels of the image sensor based on the received signals; based on the one or more first events, initializes one or more state machines; receives, from the image sensor, one or more second signals corresponding to the reflections; detects one or more second events corresponding to one or more second pixels of the image sensor based on the received signals; determines candidates for connecting the one or more second events to the one or more first events; and determines three-dimensional points for the one or more first pixels and the one or more second pixels based on the candidates and the one or more state machines.

公开(公告)号：WO2019180033A1

公开(公告)日：2019-09-26

申请号：PCT/EP2019/056866

申请日：2019-03-19

Applicant: ROBERT BOSCH GMBH ,  PROPHESEE

Inventor： PFEIFFER, Michael ,  MARX, Jochen ,  LANGE, Oliver ,  POSCH, Christoph ,  LAGORCE, Xavier ,  NIKOLAIDIS, Spiros

IPC: G06K9/00

Abstract: A system (1) for detecting dynamic secondary objects (55) that have a potential to intersect the trajectory (51) of a moving primary object (50), comprising a vision sensor (2) with a light-sensitive area (20) that comprises event-based pixels (21), so that a relative change in the light intensity impinging onto an event-based pixel (21) of the vision sensor (2) by at least a predetermined percentage causes the vision sensor (2) to emit an event (21a) associated with this event-based pixel (21), wherein the system (1) further comprises a discriminator module (3) that gets both the stream of events (21a) from the vision sensor (2) and information (52) about the heading and/or speed of the motion of the primary object (50) as inputs, and is configured to identify, from said stream of events (21a), based at least in part on said information (52), events (21b) that are likely to be caused by the motion of a secondary object (55), rather than by the motion of the primary object (50). Vision sensors (2) for use in the system (1). A corresponding computer program.

公开(公告)号：WO2019115517A1

公开(公告)日：2019-06-20

申请号：PCT/EP2018/084348

申请日：2018-12-11

Applicant: PROPHESEE

Inventor： POSCH, Christoph ,  MATOLIN, Daniel

IPC: H04N5/335 ,  H04N5/378 ,  H04N5/3745 ,  H04N5/341

CPC classification number: H04N5/37455 ,  H04N5/341 ,  H04N5/37452

Abstract: An event-based image sensor comprising a plurality of pixel circuits (1) each comprising: a photoreceptor circuit (10) comprising a light-sensitive element (101) configured for delivering at an output (11) a photoreceptor current (I PRout ), an analog bus (20), a bank of current memory cells connected to the analog bus (20), each adapted to store an electric current flowing in the analog bus (20) and to deliver an electric current stored within said current memory cell, wherein each pixel circuit (1) comprises a current comparator(50) comprising: -a current sign detector (51) connected to the analog bus (20) and configured for comparing a value of a compared electric current resulting from a difference between the photoreceptor current and a previous photoreceptor current stored in a current memory cell, -at least one storage cell (53, 54) having a state conditioned by the output of said current sign detector (51).

公开(公告)号：WO2021233746A1

公开(公告)日：2021-11-25

申请号：PCT/EP2021/062552

申请日：2021-05-11

Applicant: PROPHESEE

Inventor： LAGORCE, Xavier ,  TCHOUPRINA, Artiom

IPC: H01S5/42 ,  G01B11/25

Abstract: A light source for structured light, comprising a plurality of light source elements arranged in an array, wherein the light source elements are configured to be driven in the following two modes: - a calibration mode, wherein only a part of light source elements are adapted to be driven; and - a normal mode, wherein the rest of the light source elements are adapted to be driven.

公开(公告)号：WO2021160859A1

公开(公告)日：2021-08-19

申请号：PCT/EP2021/053551

申请日：2021-02-12

Applicant: PROPHESEE

Inventor： MATOLIN, Daniel ,  FINATEU, Thomas ,  GIULIONI, Massimiliano ,  POSCH, Christoph

IPC: H04N5/341

Abstract: A circuit includes a selection circuit electrically coupled to pixels of a line of an event vision sensor. The selection circuit is configured to receive an activation signal from an active pixel of the line, generate an acknowledge signal in response to receiving the activation signal, and send the acknowledge signal to the pixels of the line. The circuit also includes a control circuit that is electrically coupled to a pixel having a largest distance to the selection circuit among the pixels of the line. The control circuit is configured to receive the acknowledge signal from the selection circuit, and generate a process-reading signal in response to receiving the acknowledge signal. The circuit also includes an interface circuit electrically coupled to the pixels of the line and configured to cause a reset of the selection circuit, the control circuit, and the pixels of the line after receiving the process-reading signal.

公开(公告)号：WO2020157157A1

公开(公告)日：2020-08-06

申请号：PCT/EP2020/052200

申请日：2020-01-29

Applicant: PROPHESEE

Inventor： LAGORCE, Xavier

IPC: G06K9/34 ,  G06K9/60 ,  G06K9/00

Abstract: The event-based sensor has an array of pixels facing a scene. The information to be processed includes events originating from the pixels depending on variations of incident light from the scene. The method comprises: storing (S1) a data structure for a set of pixels of the array, the data structure including, for each pixel of the set, event data associated with a most recent event originating from said pixel; and, upon receiving a current event (E) from a first pixel of the array, retrieving (S2) any event data included in the data structure for a group of pixels including the first pixel and a plurality of second pixels adjacent to the first pixel in the array; and labelling (S3) the current event based on at least one connectivity criterion between the current event (E) and the most recent event originating from a pixel of said group.

公开(公告)号：WO2019211317A1

公开(公告)日：2019-11-07

申请号：PCT/EP2019/061133

申请日：2019-04-30

Applicant: PROPHESEE

Inventor： FINATEU, Thomas ,  MATOLIN, Daniel ,  POSCH, Christoph

IPC: H04N5/3745 ,  H04N5/378

Abstract: An image sensor includes a plurality of pixels, each pixel including a photosensitive element, and a photo-signal converter adapted to provide, on a first output, a current signal linearly proportional to the intensity of light impinging on the photosensitive element and to provide, on a second output, a voltage signal logarithmic with the intensity of light impinging on the photosensitive element. Each pixel further includes a detector adapted to generate a trigger signal when a signal of the detector proportional to the voltage signal of the second output of the photo- signal converter exceeds a threshold, and a light-to-time converter adapted to measure and encode, in the time domain, light intensity on the photosensitive element. A light-to-time conversion cycle may be initiated by the light-to-time converter in response to receipt of the trigger signal.

公开(公告)号：WO2022152810A1

公开(公告)日：2022-07-21

申请号：PCT/EP2022/050678

申请日：2022-01-13

Applicant: PROPHESEE

Inventor： SCHON, Guillaume ,  MASCHERONI, Andrea ,  NAGULESWARAN, Thulaxan ,  AN, Ting ,  PERRIN, Patrice ,  DOISNEAU, Pierre-Antoine

IPC: G06F8/41 ,  H04N5/341 ,  H04N5/3745

Abstract: A method for operating an event-based image sensor comprising a plurality of pixel circuits arranged to form a pixel array, each pixel being arranged at a location defined by an address defined by pixel coordinates in the array, wherein each pixel circuit is configured for generating an event, each time a light intensity change is detected, an event being characterized by a polarity reflecting a direction of the change, wherein the method comprises: - performing a line readout of groups of adjacent pixels of a line of pixels, the line readout comprises generating, for each group, at least one packet expressing occurrences of events of a same polarity in said group, a packet being characterized each packet is characterized by a polarity and a group address, - sending said packets to a processing pipeline where the packets are successively processed, involving a memory access based on the group address, wherein two packets sharing the same group address have different polarities and are consecutively processed.

公开(公告)号：WO2021180813A1

公开(公告)日：2021-09-16

申请号：PCT/EP2021/056101

申请日：2021-03-10

Applicant: PROPHESEE

Inventor： LAGORCE, Xavier ,  MATOLIN, Daniel ,  BOURKE, Denis ,  FINATEU, Thomas

IPC: H04N5/341 ,  H04N5/3745

Abstract: An event filtering method for operating an event-based image sensor comprising a plurality of pixel circuits comprising: - a photoreceptor circuit configured for delivering a photoreceptor signal, - a change detector configured for detecting a change in the photoreceptor signal, and emitting an event each time a change is detected, an event being characterized at least by a polarity reflecting a direction of the change, wherein an event filter (20) receives a series of events, and for each received event, the event filter either accepts or rejects the received event, the event filter (20) accepting the received event only if a first condition a) and a second condition b) are met: a) the received event has a same polarity as a polarity of a at least a last received event and, b) the received event and the last received event are separated by a time interval shorter than a time threshold.