公开(公告)号：US12063444B1

公开(公告)日：2024-08-13

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 ,  H04N25/40 ,  H04N25/47 ,  H04N25/702 ,  H04N25/703 ,  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：US20230236009A1

公开(公告)日：2023-07-27

申请号：US17999204

申请日：2021-05-11

Applicant: PROPHESEE

Inventor： Xavier LAGORCE ,  Artiom TCHOUPRINA

IPC: G01B11/25

CPC classification number: G01B11/2513 ,  G01B11/2504 ,  H01S5/423

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：US20220100658A1

公开(公告)日：2022-03-31

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: G06F12/0815 ,  G06F12/0895

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：US20220036110A1

公开(公告)日：2022-02-03

申请号：US17413347

申请日：2019-12-13

Applicant: PROPHESEE

Inventor： Amos SIRONI ,  Pierre DE TOURNEMIRE ,  Daniele PERRONE

IPC: G06K9/32 ,  G06K9/00

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：US11212470B2

公开(公告)日：2021-12-28

申请号：US16701423

申请日：2019-12-03

Applicant: Prophesee

Inventor： Daniel Matolin ,  Christoph Posch

IPC: H04N5/355 ,  H04N5/3745 ,  H04N5/374 ,  H04N5/341 ,  H04N3/14 ,  H04N5/335 ,  H04N5/235 ,  H04N5/378 ,  H01L27/146 ,  H04N5/345

Abstract: The invention relates to pixel circuit and an operating method thereof, comprising—a front-end circuit (1) comprising a single photodiode (PD) and having an output (4), said front-end circuit (1) being configured for delivering on said output a photoreceptor signal derived from a light exposure of said single photodiode (PD);—a transient detector circuit (2) configured for detecting a change in said photoreceptor signal delivered on said output (4);—an exposure measurement circuit (3) configured for measuring said photoreceptor signal delivered on said output (4) upon detection by the transient detector circuit (2) of a change in the photoreceptor signal. The invention also relates to an image sensor comprising a plurality of pixel circuits

公开(公告)号：US20210258525A1

公开(公告)日：2021-08-19

申请号：US17174499

申请日：2021-02-12

Applicant: PROPHESEE

Inventor： DANIEL MATOLIN ,  THOMAS FINATEU ,  MASSIMILIANO GIULIONI ,  CHRISTOPH POSCH

IPC: H04N5/378 ,  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：US20210235028A1

公开(公告)日：2021-07-29

申请号：US17051148

申请日：2019-04-30

Applicant: PROPHESEE

Inventor： Thomas FINATEU ,  Daniel MATOLIN ,  Christoph POSCH

IPC: H04N5/353 ,  H04N5/378 ,  H04N5/3745

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：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.