公开(公告)号：US09866816B2

公开(公告)日：2018-01-09

申请号：US15059811

申请日：2016-03-03

Applicant: Facet Technology Corp.

Inventor： James E. Retterath

IPC: H04N13/02

CPC classification number: H04N13/204 ,  G01S7/4863 ,  G01S17/107 ,  G01S17/89 ,  G01S17/936 ,  H04N5/232 ,  H04N13/257 ,  H04N13/271 ,  H04N13/296 ,  H04N2213/005

Abstract: An active-pulsed four-dimensional camera system that utilizes a precisely-controlled light source produces spatial information and human-viewed or computer-analyzed images. The acquisition of four-dimensional optical information is performed at a sufficient rate to provide accurate image and spatial information for in-motion applications where the camera is in motion and/or objects being imaged, detected and classified are in motion. Embodiments allow for the reduction or removal of image-blocking conditions like fog, snow, rain, sleet and dust from the processed images. Embodiments provide for operation in daytime or nighttime conditions and can be utilized for day or night full-motion video capture with features like shadow removal. Multi-angle image analysis is taught as a method for classifying and identifying objects and surface features based on their optical reflective characteristics.

公开(公告)号：US09360554B2

公开(公告)日：2016-06-07

申请号：US14251254

申请日：2014-04-11

Applicant: Facet Technology Corp.

Inventor： James E. Retterath ,  Robert A. Laumeyer

IPC: G01S17/89 ,  G01S17/10 ,  G01S17/42 ,  G01S17/93 ,  G01S7/481 ,  G01S7/486 ,  G01S7/497 ,  G06T7/00

CPC classification number: G01S7/4863 ,  G01S7/481 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/4865 ,  G01S7/497 ,  G01S17/10 ,  G01S17/102 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

Abstract: LiDAR (light detection and ranging) systems use one or more emitters and a detector array to cover a given field of view where the emitters each emit a single pulse or a multi-pulse packet of light that is sampled by the detector array. On each emitter cycle the detector array will sample the incoming signal intensity at the pre-determined sampling frequency that generates two or more samples per emitted light packet to allow for volumetric analysis of the retroreflected signal portion of each emitted light packet as reflected by one or more objects in the field of view and then received by each detector.

Abstract translation: LiDAR（光检测和测距）系统使用一个或多个发射器和检测器阵列来覆盖给定的视场，其中发射器各自发射由检测器阵列采样的单个脉冲或多个脉冲的光束。 在每个发射器周期上，检测器阵列将以预定的采样频率对输入的信号强度进行采样，该采样频率为每个发射的光分组产生两个或多个采样，以便对每个发射的光分组的回射信号部分进行体积分析， 更多的对象在视野中，然后由每个检测器接收。

公开(公告)号：WO2006121986A2

公开(公告)日：2006-11-16

申请号：PCT/US2006017647

申请日：2006-05-08

Applicant: FACET TECHNOLOGY CORP ,  LAUMEYER ROBERT A ,  RETTERATH JAMIE E

Inventor： LAUMEYER ROBERT A ,  RETTERATH JAMIE E

IPC: G01C21/30

CPC classification number: G01C21/30 ,  G06Q10/047 ,  G06Q30/02 ,  G06Q30/0215 ,  G06Q30/0277

Abstract: A network-based navigation system includes a user interface and a computer server system that can access a map database, an actual imagery database and an advertisement database in order to provide visual route guidance information having virtual drive-thru advertisements integrated with actual imagery from along a physical route. The user interface permits a user to submit a request for navigation information, receive visual route guidance information in response to the request and initiate a drive- thru presentation of at least a portion of a route. The computer server determines at least one route from the map database based on the request from the user and provides route guidance information to the user interface in response. The computer server also identifies actual imagery from the image database associated with the at least one route and selectively replaces at least one polygon region identified in the actual imagery associated with the at least one route with at least one advertisement from the ad database to create a drive-thru presentation with at least one virtual advertisement. At least a portion of the drive-thru presentation is presented to the user interface. In one embodiment, the computer server records a drive-thru charge for the virtual advertisements present in the portion of the drive-thru presentation provided to the user interface.

Abstract translation: 基于网络的导航系统包括可以访问地图数据库，实际图像数据库和广告数据库的用户界面和计算机服务器系统，以便提供具有与实际图像集成在一起的虚拟驱动通道的视觉路线引导信息 一条物理路线。 用户界面允许用户提交导航信息请求，响应于该请求接收可视路线引导信息，并启动至少一部分路由的直通显示。 计算机服务器基于来自用户的请求来确定来自地图数据库的至少一个路由，并且响应地向用户界面提供路由引导信息。 所述计算机服务器还识别与所述至少一个路由相关联的图像数据库中的实际图像，并且利用来自所述广告数据库的至少一个广告选择性地替换与所述至少一个路线相关联的所述实际图像中识别的至少一个多边形区域，以创建 带有至少一个虚拟广告的直通演示。 至少一部分直通演示呈现给用户界面。 在一个实施例中，计算机服务器为提供给用户界面的直通介绍部分中存在的虚拟广告记录驱动器费用。

公开(公告)号：WO2017151561A1

公开(公告)日：2017-09-08

申请号：PCT/US2017/019852

申请日：2017-02-28

Applicant: FACET TECHNOLOGY CORP.

Inventor： RETTERATH, James, E.

IPC: G02B27/22 ,  G02B27/00 ,  G01N21/17

Abstract: An active-pulsed four-dimensional camera system that utilizes a precisely-controlled light source produces spatial information and human-viewed or computer-analyzed images. The acquisition of four-dimensional optical information is performed at a sufficient rate to provide accurate image and spatial information for in-motion applications where the camera is in motion and/or objects being imaged, detected and classified are in motion. Embodiments allow for the reduction or removal of image-blocking conditions like fog, snow, rain, sleet and dust from the processed images. Embodiments provide for operation in daytime or nighttime conditions and can be utilized for day or night full-motion video capture with features like shadow removal. Multi-angle image analysis is taught as a method for classifying and identifying objects and surface features based on their optical reflective characteristics.

Abstract translation: 利用精确控制的光源的有源脉冲四维相机系统产生空间信息和人类观察或计算机分析的图像。 以足够的速率执行四维光学信息的采集，以提供相机处于运动中的运动中应用和/或正在成像，检测和分类运动的物体的精确图像和空间信息。 实施例允许从处理后的图像中减少或去除像雾，雪，雨，冰雪和灰尘之类的图像阻挡条件。 实施例提供在白天或夜间条件下的操作，并且可以利用诸如阴影去除之类的特征来利用白天或夜间全动态视频捕捉。 多角度图像分析被教导为基于其光学反射特性对物体和表面特征进行分类和识别的方法。

公开(公告)号：WO2015126471A2

公开(公告)日：2015-08-27

申请号：PCT/US2014/064123

申请日：2014-11-05

Applicant: FACET TECHNOLOGY CORP.

Inventor： RETTERATH, Jamie, E. ,  LAUMEYER, Robert, A.

IPC: G01S7/497 ,  G01S17/06

CPC classification number: G01S7/4815 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/93

Abstract: An array-based light detection and ranging (LiDAR) unit includes an array of emitter/detector sets configured to cover a field of view for the unit. Each emitter/detector set emits and receives light energy on a specific coincident axis unique for that emitter/detector set. A control system coupled to the array of emitter/detector sets controls initiation of light energy from each emitter and processes time of flight information for light energy received on the coincident axis by the corresponding detector for the emitter/detector set. The time of flight information provides imaging information corresponding to the field of view. Interference among light energy is reduced with respect to detectors in the LiDAR unit not corresponding to the specific coincident axis, and with respect to other LiDAR units and ambient sources of light energy. In one embodiment, multiple array-based LiDAR units are used as part of a control system for an autonomous vehicle.

Abstract translation: 基于阵列的光检测和测距（LiDAR）单元包括配置为覆盖单元的视场的发射器/检测器组的阵列。 每个发射器/检测器组发射和接收在该发射器/检测器组特有的特定重合轴上的光能。 耦合到发射器/检测器组的阵列的控制系统控制来自每个发射器的光能量的启动并且处理用于发射器/检测器组的对应检测器在重合轴上接收的光能量的飞行时间信息。 飞行时间信息提供对应于视野的成像信息。 相对于LiDAR单元中不对应于特定重合轴的探测器以及相对于其他LiDAR单元和环境光源来说，光能之间的干扰减少。 在一个实施例中，多个基于阵列的LiDAR单元被用作自主车辆的控制系统的一部分。

公开(公告)号：WO2002101340A2

公开(公告)日：2002-12-19

申请号：PCT/US2002/017914

申请日：2002-06-05

Applicant: FACET TECHNOLOGY CORP.

Inventor： RETTERATH, James, E. ,  LAUMEYER, Robert, A.

IPC: G01J

CPC classification number: G08G1/096758 ,  G01N21/55 ,  G01N2021/551 ,  G08G1/0962 ,  G08G1/096716 ,  G08G1/096775 ,  G08G1/096783 ,  G08G1/096791

Abstract: A system for the automated determination of retroreflectivity values for reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a strobing light source. Multiple light intensity values are measured over a field of view which includes at least a portion of the area illuminated by the light source. A computer processing system is used to identifying a portion of the light intensity values associated with a reflective surface and analyze the portion of the light intensity values to determine at least one retroreflectivity value for that reflective surface. Preferably, color images of the area and locational information are also generated by the system and are used together with a characterization profile of the light source to enhance the accuracy of the determination of retroreflectivity values. In one embodiment, a three-dimensional overlay of retroreflectivity values for the roadway is generated and can be manipulated to display retroreflectivity values of a reflective surface at any desired point along the roadway. In another embodiment, a virtual drive through along a roadway is simulated using a plurality of retroreflectivity values to simulate reflections from each reflective surface disposed along the roadway during the virtual drive through.

Abstract translation: 用于自动确定沿道路设置的反射表面的后向反射率值的系统使用选通光源重复地照亮包括至少一个反射表面的道路的区域。 在包括由光源照射的区域的至少一部分的视野中测量多个光强度值。 计算机处理系统用于识别与反射表面相关联的光强值的一部分，并且分析光强度值的该部分以确定该反射表面的至少一个后向反射率值。 优选地，该区域和位置信息的彩色图像也由系统生成，并且与光源的表征轮廓一起使用以增强后向反射率值的确定的准确性。 在一个实施例中，产生用于道路的后向反射率值的三维覆盖，并且可以被操纵以在沿着道路的任何期望点显示反射表面的后向反射率值。 在另一个实施例中，通过多个后向反射率模拟沿着道路穿过的虚拟驱动器，以模拟在虚拟驱动通过期间沿着道路设置的每个反射表面的反射。

公开(公告)号：WO2015126471A3

公开(公告)日：2015-10-29

申请号：PCT/US2014064123

申请日：2014-11-05

Applicant: FACET TECHNOLOGY CORP

Inventor： RETTERATH JAMIE E ,  LAUMEYER ROBERT A

IPC: G01S7/497 ,  G01S17/06

CPC classification number: G01S7/4815 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/93

Abstract: An array-based light detection and ranging (LiDAR) unit includes an array of emitter/detector sets configured to cover a field of view for the unit. Each emitter/detector set emits and receives light energy on a specific coincident axis unique for that emitter/detector set. A control system coupled to the array of emitter/detector sets controls initiation of light energy from each emitter and processes time of flight information for light energy received on the coincident axis by the corresponding detector for the emitter/detector set. The time of flight information provides imaging information corresponding to the field of view. Interference among light energy is reduced with respect to detectors in the LiDAR unit not corresponding to the specific coincident axis, and with respect to other LiDAR units and ambient sources of light energy. In one embodiment, multiple array-based LiDAR units are used as part of a control system for an autonomous vehicle.

Abstract translation: 基于阵列的光检测和测距（LiDAR）单元包括被配置为覆盖该单元的视场的发射器/检测器组的阵列。 每个发射器/检测器发射和接收在该发射器/检测器组唯一的特定重合轴上的光能。 耦合到发射器/检测器组的阵列的控制系统控制来自每个发射器的光能的起始，并且通过发射器/检测器组的相应检测器处理在重合轴上接收的光能的飞行时间信息。 飞行时间信息提供对应于视场的成像信息。 相对于不对应于特定重合轴的LiDAR单元中的检测器，以及相对于其它LiDAR单元和环境光能源，光能量之间的干扰减小。 在一个实施例中，多个基于阵列的LiDAR单元被用作用于自主车辆的控制系统的一部分。

公开(公告)号：WO2015156997A1

公开(公告)日：2015-10-15

申请号：PCT/US2015/022248

申请日：2015-03-24

Applicant: FACET TECHNOLOGY CORP.

Inventor： RETTERATH, James, E. ,  LAUMEYER, Robert, A.

IPC: G01S17/06

CPC classification number: G01S7/4863 ,  G01S7/481 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/4865 ,  G01S7/497 ,  G01S17/10 ,  G01S17/102 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

Abstract: LiDAR (light detection and ranging) systems use one or more emitters and a detector array to cover a given field of view where the emitters each emit a single pulse or a multi-pulse packet of light that is sampled by the detector array. On each emitter cycle the detector array will sample the incoming signal intensity at the pre-determined sampling frequency that generates two or more samples per emitted light packet to allow for volumetric analysis of the retroreflected signal portion of each emitted light packet as reflected by one or more objects in the field of view and then received by each detector.

Abstract translation: LiDAR（光检测和测距）系统使用一个或多个发射器和检测器阵列来覆盖给定的视场，其中发射器各自发射由检测器阵列采样的单个脉冲或多个脉冲的光束。 在每个发射器周期上，检测器阵列将以预定的采样频率对输入的信号强度进行采样，该采样频率为每个发射的光分组产生两个或多个采样，以便对每个发射的光分组的回射信号部分进行体积分析， 更多的对象在视野中，然后由每个检测器接收。

公开(公告)号：WO2006121986A3

公开(公告)日：2006-11-16

申请号：PCT/US2006/017647

申请日：2006-05-08

Applicant: FACET TECHNOLOGY CORP. ,  LAUMEYER, Robert, A. ,  RETTERATH, Jamie, E.

Inventor： LAUMEYER, Robert, A. ,  RETTERATH, Jamie, E.

IPC: H04L12/56

Abstract: A network-based navigation system includes a user interface and a computer server system that can access a map database, an actual imagery database and an advertisement database in order to provide visual route guidance information having virtual drive-thru advertisements integrated with actual imagery from along a physical route. The user interface permits a user to submit a request for navigation information, receive visual route guidance information in response to the request and initiate a drive- thru presentation of at least a portion of a route. The computer server determines at least one route from the map database based on the request from the user and provides route guidance information to the user interface in response. The computer server also identifies actual imagery from the image database associated with the at least one route and selectively replaces at least one polygon region identified in the actual imagery associated with the at least one route with at least one advertisement from the ad database to create a drive-thru presentation with at least one virtual advertisement. At least a portion of the drive-thru presentation is presented to the user interface. In one embodiment, the computer server records a drive-thru charge for the virtual advertisements present in the portion of the drive-thru presentation provided to the user interface.

公开(公告)号：WO02101340A3

公开(公告)日：2003-04-10

申请号：PCT/US0217914

申请日：2002-06-05

Applicant: FACET TECHNOLOGY CORP

Inventor： RETTERATH JAMES E ,  LAUMEYER ROBERT A

IPC: G08G1/0962 ,  G08G1/0967 ,  G06K9/00

CPC classification number: G08G1/096758 ,  G01N21/55 ,  G01N2021/551 ,  G08G1/0962 ,  G08G1/096716 ,  G08G1/096775 ,  G08G1/096783 ,  G08G1/096791

Abstract: A system for the automated determination of retroreflectivity values for reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a strobing light source. Multiple light intensity values are measured over a field of view which includes at least a portion of the area illuminated by the light source. A computer processing system is used to identifying a portion of the light intensity values associated with a reflective surface and analyze the portion of the light intensity values to determine at least one retroreflectivity value for that reflective surface. Preferably, color images of the area and locational information are also generated by the system and are used together with a characterization profile of the light source to enhance the accuracy of the determination of retroreflectivity values. In one embodiment, a three-dimensional overlay of retroreflectivity values for the roadway is generated and can be manipulated to display retroreflectivity values of a reflective surface at any desired point along the roadway. In another embodiment, a virtual drive through along a roadway is simulated using a plurality of retroreflectivity values to simulate reflections from each reflective surface disposed along the roadway during the virtual drive through.

Abstract translation: 用于自动确定沿道路设置的反射表面的后向反射率值的系统使用选通光源重复地照亮包括至少一个反射表面的道路的区域。 在包括由光源照射的区域的至少一部分的视野中测量多个光强度值。 计算机处理系统用于识别与反射表面相关联的光强值的一部分，并且分析光强度值的该部分以确定该反射表面的至少一个后向反射率值。 优选地，该区域和位置信息的彩色图像也由系统生成，并且与光源的表征轮廓一起使用以增强后向反射率值的确定的准确性。 在一个实施例中，产生用于道路的后向反射率值的三维覆盖，并且可以被操纵以在沿着道路的任何期望点显示反射表面的后向反射率值。 在另一个实施例中，通过多个后向反射率模拟沿着道路穿过的虚拟驱动器，以模拟在虚拟驱动通过期间沿着道路设置的每个反射表面的反射。