公开(公告)号：US10721423B2

公开(公告)日：2020-07-21

申请号：US16343720

申请日：2017-10-19

Applicant: PROPHESEE ,  CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS

Inventor： Thomas Finateu ,  Bernabé Linares Barranco ,  Teresa Serrano Gotarredona ,  Christoph Posch

IPC: H04N5/374 ,  H04N5/335 ,  H04N5/3745

Abstract: A pixel circuit for detecting time-dependent visual data includes a photo sensing device detecting a light intensity and generating a signal representing the detected light intensity. The pixel circuit further includes: a voltage amplifier configured for amplifying the signal representing the detected light intensity and generating an amplified signal, the amplified signal being generated by taking into account a control signal which shifts an input voltage offset of the voltage amplifier; a hysteresis comparing module configured for comparing the amplified signal to at least one threshold value and to a reference value and for generating at least one output signal based on the comparison; and a feedback control module configured for generating the control signal of the voltage amplifier based on the at least one output signal generated by the hysteresis comparing module.

公开(公告)号：US20240276116A1

公开(公告)日：2024-08-15

申请号：US18272330

申请日：2022-01-13

Applicant: PROPHESEE

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

IPC: H04N25/707 ,  H04N25/77

CPC classification number: H04N25/707 ,  H04N25/77

Abstract: A method is provided 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 to generate an event, such that each time a light intensity change is detected, an event is characterized by a polarity reflecting a direction of the change. The method comprises performing a line readout of groups of adjacent pixels of a line of pixels, wherein the line readout comprises generating, for each group, at least one packet expressing occurrences of events of a same polarity in said group, each packet being characterized by a polarity and a group address. The method further comprises sending the 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：US12062217B2

公开(公告)日：2024-08-13

申请号：US17413347

申请日：2019-12-13

Applicant: PROPHESEE

Inventor： Amos Sironi ,  Pierre De Tournemire ,  Daniele Perrone

IPC: G06V10/20 ,  G06V20/56

CPC classification number: G06V10/255 ,  G06V20/56

Abstract: The present invention relates to a method of tracking objects in a scene observed by an event-based sensor that produces events asynchronously from a matrix of sensing elements, wherein, from each sensing element of the matrix, respective events are produced as a function of variations of light incident on the sensing element, the method comprising: detecting, by a first process, an object in the scene from asynchronous events produced by the event-based sensor; and determining, by a second process, a track associated to the detected object from asynchronous events produced by the event-based sensor; wherein the first process has a time resolution lower than the second process.

公开(公告)号：US20240214708A1

公开(公告)日：2024-06-27

申请号：US18393218

申请日：2023-12-21

Applicant: PROPHESEE

Inventor： Thomas FINATEU ,  Christian BOUVIER

IPC: H04N25/78 ,  H01L27/146

CPC classification number: H04N25/78 ,  H01L27/14607 ,  H01L27/1461

Abstract: A merged frame-based and event-based image sensor pixel is provided, comprising a reverse-biased photodiode; a frame-based signal readout circuit connected to a cathode of the photodiode; and an event-based signal readout circuit connected to an anode of the photodiode. Light received in the photodiode causes the production of electrons and holes. The recombination current of the holes is continuously measured for producing the event-based signal.

公开(公告)号：US20240169577A1

公开(公告)日：2024-05-23

申请号：US18550904

申请日：2022-03-10

Applicant: PROPHESEE

Inventor： Camilo VEJARANO ,  Thomas ROUCH

IPC: G06T7/62 ,  G06T7/13 ,  G06V10/25 ,  G06V10/74 ,  G06V20/40

CPC classification number: G06T7/62 ,  G06T7/13 ,  G06V10/25 ,  G06V10/761 ,  G06V20/44

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：US11871125B2

公开(公告)日：2024-01-09

申请号：US17430141

申请日：2020-02-10

Applicant: PROPHESEE

Inventor： Daniele Perrone ,  Xavier Lagorce ,  Vitor Schambach Costa ,  Ludovic Chotard ,  Sylvain Brohan

IPC: H04N23/80 ,  H04N25/40 ,  H04N25/443

CPC classification number: H04N23/80 ,  H04N25/40 ,  H04N25/443

Abstract: The method processes a series of events received asynchronously from an array of pixels of an event-based light sensor. Each event of the series comprises an address of a pixel of the array from which the event is received, and an attribute value depending on incident light sensed by that pixel. The method comprises: storing a data structure in a first memory, the data structure including event data for at least some of the pixels of the array, the event data for a pixel being related to at least one event most recently received from said pixel; during a timeslot, building, in a second memory having a faster access than the first memory, a map for the pixels of the array as the events of the series are received, the map including an information element for each pixel of the array, the information element having one of a plurality of values including a nil value indicating an absence of event during the timeslot; and updating the data structure after the timeslot using the map.

公开(公告)号：US11856290B2

公开(公告)日：2023-12-26

申请号：US17686712

申请日：2022-03-04

Applicant: PROPHESEE

Inventor： Amos Sironi ,  Marc Rousseau ,  Christoph Posch ,  Xavier Lagorce

IPC: H04N23/60 ,  H04N23/57 ,  H04N25/40

CPC classification number: H04N23/665 ,  H04N23/57 ,  H04N25/40

Abstract: For processing a signal from an event-based sensor having an array of sensing elements facing a scene, the method comprises: receiving the signal including, for each sensing element, successive events originating from said sensing element depending on variations of incident light from the scene; analyzing the signal to detect a frequency pattern in a light profile sensed by at least one sensing element; and extracting information from the scene in response to detection of the frequency pattern.

公开(公告)号：US20230412930A1

公开(公告)日：2023-12-21

申请号：US18336405

申请日：2023-06-16

Applicant: PROPHESEE

Inventor： Serge BURY ,  Xavier LAGORCE

IPC: H04N23/745 ,  H04N25/60

CPC classification number: H04N23/745 ,  H04N25/60

Abstract: An apparatus comprising an interface and a processor. The interface may be configured to receive an asynchronous event stream from an event-based sensor. The event stream may comprise a series of pixel locations with a timestamp each generated in response to an autonomous detection by any of a plurality of pixels of the event-based sensor exceeding a threshold. The processor may be configured to detect a characteristic pattern of a flicker event in the event stream and generate an output signal containing a tick result in response to the characteristic pattern of the flicker event. A predicted recurring interval of the flicker event may be determined based on the characteristic pattern. The tick result may comprise future timestamps of the flicker event determined based on the predicted recurring interval for the timestamp of the autonomous detection of a particular one of the pixel locations.

公开(公告)号：US20220205835A1

公开(公告)日：2022-06-30

申请号：US17594551

申请日：2020-04-24

Applicant: PROPHESEE

Inventor： Geoffrey F. BURNS ,  Manuele BRAMBILLA ,  Christoph POSCH ,  Gaspard FLORENTZ ,  Stephane VALENTE

IPC: G01H9/00

Abstract: The present disclosure generally relates to systems and methods for imaging and sensing vibrations of an object. In one implementation, a system is provided for detecting vibrations that comprises a sensor with a plurality of pixels, each pixel including at least one photosensitive element. The sensor is configured to output signals related to illumination on each pixel. The system also includes at least one processor configured to receive the output signals from the sensor and detect, based on the output signals, one or more polarities. The at least one processor is also configured to determine timestamps associated with the output signals, analyze the timestamps and the polarities to detect vibrations of an object in the field of view of the sensor, and determine one or more frequencies of the detected vibrations.

公开(公告)号：US11368645B2

公开(公告)日：2022-06-21

申请号：US17255972

申请日：2019-06-27

Applicant: Prophesee SA

Inventor： Thomas Finateu ,  Daniel Matolin ,  Christoph Posch

IPC: H04N5/3745 ,  H04N5/378 ,  H04N5/369 ,  H04N5/345 ,  H04N5/355 ,  H04N9/04

Abstract: The present disclosure generally relates to image sensors and methods for image sensing. More specifically, and without limitation, this disclosure relates to systems and methods for providing super-pixels, and implementing and using image sensors with super-pixels. In one implementation, an image sensor includes a plurality of super-pixels. Each super-pixel may include a first photosensitive element; a detector electrically connected to the first photosensitive element and configured to generate a trigger signal when an analog signal proportional to brightness of light impinging on the first photosensitive element matches a condition; a second photosensitive element; an exposure measurement circuit electrically connected to the second photosensitive element and configured to convert an analog signal proportional to brightness of light impinging on the second photosensitive element to a digital signal; and a logic circuit electrically connected to the detector and the exposure measurement circuit and configured to enable the exposure measurement circuit in response to the trigger signal and to disable the exposure measurement circuit when the digital signal is read out from the exposure measurement circuit.