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1.发明授权Methods and apparatus for object detection and identification in a multiple detector lidar array 有权多检测器激光雷达阵列中物体检测和识别的方法和装置公开(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
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。
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2.发明申请Methods and Apparatus for Increased Precision and Improved Range in a Multiple Detector LiDAR Array 审中-公开多检测器LiDAR阵列中提高精度和改进范围的方法和装置公开(公告)号：US20160259038A1
公开(公告)日：2016-09-08
申请号：US14639802
申请日：2015-03-05
Applicant: Facet Technology Corp.
Inventor： James E. Retterath , Robert A. Laumeyer
CPC classification number: G01S7/4802 , G01S7/4815 , G01S7/4865 , G01S17/10 , G01S17/89 , G01S17/936
Abstract: Methods, systems, and computer program products for acquiring three-dimensional LiDAR information of a scene are disclosed. According to one aspect, acquiring three-dimensional information includes emitting N pulses in a sequence with each successive pulse having a relative time shift to the sampling reference, thus producing a reconstructed sampled signal with an effective sampling rate of N times the sampling reference. According to another aspect, acquiring three-dimensional information includes emitting two or more frequencies, the differences of each pair of differing frequencies being designated as Δf, and sampling the return information with the use of a sampling reference. Frequency analysis is performed on the sampled information to determine the reference times at which the Δf signals occur and the signal intensity of the Δf signals at each time. Systems as described herein can be utilized for autonomous vehicle navigation, collision avoidance and navigation systems for UAVs, roadway surface texture analysis, non-contact friction analysis, and in-motion deflectometer measurement.
Abstract translation: 公开了用于获取场景的三维LiDAR信息的方法，系统和计算机程序产品。 根据一个方面，获取三维信息包括按照序列发射N个脉冲，每个连续脉冲具有到采样参考的相对时间偏移，从而产生具有采样参考的N倍的有效采样率的重建采样信号。 根据另一方面，获取三维信息包括发射两个或更多个频率，每对不同频率的差被指定为Δf，并且使用采样参考来对返回信息进行采样。 对采样信息执行频率分析，以确定Δf信号出现的参考时间和每次Δf信号的信号强度。 本文所述的系统可用于自主车辆导航，避碰和无人机的导航系统，道路表面纹理分析，非接触摩擦分析和行进偏转计测量。
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公开(公告)号：US20150153271A1
公开(公告)日：2015-06-04
申请号：US14512735
申请日：2014-10-13
Applicant: Facet Technology Corp.
Inventor： Jaime E. Retterath , Robert A. Laumeyer
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for the assessment of reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a 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 assessment for that reflective surface. In one embodiment, a virtual nighttime drive through along a roadway is simulated using a plurality of intensity values to simulate reflections from each reflective surface disposed along the roadway during the virtual drive through.
Abstract translation: 用于评估沿着道路设置的反射表面的系统重复地使用光源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度值的一部分，并且分析光强值的部分以确定该反射表面的评估。 在一个实施例中，使用多个强度值来模拟沿着道路的虚拟夜间驱动，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。
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4.发明申请METHODS AND APPARATUS FOR OBJECT DETECTION AND IDENTIFICATION IN A MULTIPLE DETECTOR LIDAR ARRAY 有权用于多个探测器激光雷达阵列中物体检测和识别的方法和装置公开(公告)号：US20150293228A1
公开(公告)日：2015-10-15
申请号：US14251254
申请日：2014-04-11
Applicant: Facet Technology Corp.
Inventor： James E. Retterath , Robert A. Laumeyer
IPC: G01S17/89
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。
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公开(公告)号：US08860944B2
公开(公告)日：2014-10-14
申请号：US14025614
申请日：2013-09-12
Applicant: Facet Technology Corp.
Inventor： Jamie E. Retterath , Robert A. Laumeyer
IPC: G01N21/55 , G08G1/0967
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for the assessment of reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a 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 assessment for that reflective surface. In one embodiment, a virtual nighttime drive through along a roadway is simulated using a plurality of intensity values to simulate reflections from each reflective surface disposed along the roadway during the virtual drive through.
Abstract translation: 用于评估沿着道路设置的反射表面的系统重复地使用光源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度值的一部分，并且分析光强值的部分以确定该反射表面的评估。 在一个实施例中，使用多个强度值来模拟沿着道路的虚拟夜间驱动，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。
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Patent Agency Ranking
公开(公告)号：US20160377529A1
公开(公告)日：2016-12-29
申请号：US15148722
申请日：2016-05-06
Applicant: Facet Technology Corp.
Inventor： James E. Retterath , Robert A. Laumeyer
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for classifying different types of sheeting materials of road signs depicted in a videostream compares estimated retroreflectivity values against known minimum retroreflectivity values for each of a plurality of colors. Once a road sign has been identified in the videostream, the frames associated with that road sign are analyzed to determine each of a plurality of colors present on the road sign. An estimated retroreflectivity for each of the plurality of colors present on the road sign is then determined. By comparing the estimated retroreflectivity for each of the plurality of colors against known minimum retroreflectivity values for the corresponding color for different types of sheeting materials, an accurate determination of the classification of the sheeting material of the road sign is established. Preferably, certain conditions of gross failure of the sheeting material are filtered out before classification of the sheeting material is determined.
Abstract translation: 用于分类视频流中描绘的道路标志的不同类型的片材的系统将估计的后向反射率值与多种颜色中的每一种的已知最小后向反射率值进行比较。 一旦在视频流中识别出路标，则分析与该道路标志相关联的帧以确定路标上存在的多种颜色中的每一种。 然后确定道路标志上存在的多种颜色中的每一种的估计的后向反射率。 通过将针对不同类型的片材的相应颜色的已知最小反射率值与多种颜色中的每一种的估计后向反射率进行比较，建立道路标志的片材的分类的准确确定。 优选地，在确定片材材料的分级之前，将片材材料的严重破坏的某些条件过滤掉。
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公开(公告)号：US09335255B2
公开(公告)日：2016-05-10
申请号：US14512735
申请日：2014-10-13
Applicant: Facet Technology Corp.
Inventor： James E. Retterath , Robert A. Laumeyer
IPC: G01N21/55 , G01N21/25 , G08G1/0967 , G01N21/84 , G01S17/06
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for the assessment of reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a 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 assessment for that reflective surface.
Abstract translation: 用于评估沿着道路设置的反射表面的系统重复地使用光源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度值的一部分，并且分析光强值的部分以确定该反射表面的评估。
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8.发明申请Methods and Apparatus for Array Based Lidar Systems with Reduced Interference 审中-公开具有减少干扰的阵列激光雷达系统的方法和装置公开(公告)号：US20150131080A1
公开(公告)日：2015-05-14
申请号：US14078001
申请日：2013-11-12
Applicant: Facet Technology Corp.
Inventor： Jamie E. Retterath , Robert A. Laumeyer
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，并且通过用于发射器/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。
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公开(公告)号：US20140036269A1
公开(公告)日：2014-02-06
申请号：US14025614
申请日：2013-09-12
Applicant: Facet Technology Corp.
Inventor： Jamie E. Retterath , Robert A. Laumeyer
IPC: G01N21/55
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for the assessment of reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a 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 assessment for that reflective surface. In one embodiment, a virtual nighttime drive through along a roadway is simulated using a plurality of intensity values to simulate reflections from each reflective surface disposed along the roadway during the virtual drive through.
Abstract translation: 用于评估沿着道路设置的反射表面的系统重复地使用光源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度值的一部分，并且分析光强值的部分以确定该反射表面的评估。 在一个实施例中，使用多个强度值来模拟沿着道路的虚拟夜间驱动，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。
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10.发明申请SYSTEM FOR THE DETERMINATION OF RETROREFLECTIVITY OF ROAD SIGNS AND OTHER REFLECTIVE OBJECTS 有权确定道路标志和其他反射物体的回归性的系统公开(公告)号：US20130271613A1
公开(公告)日：2013-10-17
申请号：US13781017
申请日：2013-02-28
Applicant: Facet Technology Corp.
Inventor： Jamie E. Retterath , Robert A. Laumeyer
IPC: G01N21/55
CPC classification number: G01N21/251 , G01N21/55 , G01N21/84 , G01N2201/06113 , G01N2201/102 , G01N2201/12 , G01S17/06 , G06K9/00791 , G06K9/00818 , G06K9/2036 , G06K9/4652 , G06K9/4661 , G08G1/096758 , G08G1/096783
Abstract: A system for the 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 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.
Abstract translation: 用于确定沿着道路设置的反射表面的后向反射率值的系统重复地照亮使用光源的包括至少一个反射表面的沿道路的区域。 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。
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