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公开(公告)号：US11016193B2
公开(公告)日：2021-05-25
申请号：US16028178
申请日：2018-07-05
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Mark Frichtl
IPC: G01S17/00 , G01S17/08 , G01S17/89 , G01S7/497 , G01S7/481 , G01S17/10 , G01S7/4863 , B81B5/00 , G01S17/931 , H01L31/02 , G01S17/88 , G02B27/30 , H01L27/146 , G02B26/10 , G06K9/00 , G02B3/00 , G02B26/08 , H01L25/16 , H01S5/183 , H01S5/40
Abstract: Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element.
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公开(公告)号：US10830892B2
公开(公告)日：2020-11-10
申请号：US16209869
申请日：2018-12-04
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Mark Frichtl , Marvin Shu , Eric Younge
IPC: G01S17/89 , G01S17/42 , G01S7/486 , G01S7/481 , B60L3/00 , H01S5/14 , H02J7/02 , G01S7/4863 , G01S7/497 , G01S17/931 , G01S17/10 , H01F38/14 , H05K1/02 , H05K1/14 , H05K1/18 , H05K5/00 , H04B10/114 , G02B3/00 , H02J50/10 , G05D1/02 , H02K11/00
Abstract: A light ranging system including a housing; a shaft defining an axis of rotation; a first circuit board assembly disposed within and coupled to the housing in a fixed relationship such that the first circuit board assembly is aligned along a first plane perpendicular to the axis of rotation, the first circuit board assembly including a plurality of first circuit elements disposed on a first circuit board; a second circuit board assembly spaced apart from the first circuit board assembly within the housing in a second plane parallel to the first plane and rotationally coupled to the shaft such that the second circuit board assembly rotates about the axis of rotation, the second circuit board assembly including a plurality of second circuit elements disposed on a second circuit board and aligned with and configured to function in wireless cooperation with at least one of the first plurality of circuit elements; and a light ranging device electrically connected to and coupled to rotate with the second circuit board assembly, the light ranging device configured to transmit light pulses to objects in a surrounding environment, to detect reflected portions of the light pulses that are reflected from the objects in the surrounding environment, and to compute ranging data based on the reflected portion of the light pulses.
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公开(公告)号：US10809380B2
公开(公告)日：2020-10-20
申请号：US15980509
申请日：2018-05-15
Applicant: Ouster, Inc.
Inventor： Angus Pacala
IPC: G01C3/08 , G01S17/931 , H04N5/235 , G06T7/50 , G01S17/89 , G01S7/481 , G01S7/497 , G01S7/51 , G01S17/42 , H04N5/232 , H04N9/04 , G01S17/86
Abstract: Methods and systems can augment 360 degree panoramic LIDAR results (e.g., from a spinning LIDAR system) with color obtained from color cameras. A color-pixel-lookup table can specify the correspondence between LIDAR pixels (depth/ranging pixels) and color pixels, which may be done at different viewing object distances. The operation of the color cameras can be triggered by the angular positions of the LIDAR system. For example, a color image of a particular camera can be captured when the LIDAR system is at a particular angular position, which can be predetermined based on properties of the cameras (e.g., shutter speed). Alternatively or in addition, a common internal clock can be used to assign timestamps to LIDAR and color pixels as they are captured. The corresponding color pixel(s), e.g., as determined using a color-pixel-lookup table, with the closest timestamp can be used for colorization.
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公开(公告)号：US10739189B2
公开(公告)日：2020-08-11
申请号：US16534838
申请日：2019-08-07
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Mark Frichtl
Abstract: A multispectral sensor array can include a combination of ranging sensor channels (e.g., LIDAR sensor channels) and ambient-light sensor channels tuned to detect ambient light having a channel-specific property (e.g., color). The sensor channels can be arranged and spaced to provide multispectral images of a field of view in which the multispectral images from different sensors are inherently aligned with each other to define an array of multispectral image pixels. Various optical elements can be provided to facilitate imaging operations. Light ranging/imaging systems incorporating multispectral sensor arrays can operate in rotating and/or static modes.
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公开(公告)号：US20190179320A1
公开(公告)日：2019-06-13
申请号：US16213827
申请日：2018-12-07
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Dmitri GARBUZOV , Daniel LU
Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.
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Patent Agency Ranking
公开(公告)号：US20190178998A1
公开(公告)日：2019-06-13
申请号：US16213784
申请日：2018-12-07
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Dmitri Garbuzov , Daniel Lu , Kairen Wong
Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.
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公开(公告)号：US10222458B2
公开(公告)日：2019-03-05
申请号：US15934613
申请日：2018-03-23
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Mark Frichtl , Marvin Shu , Eric Younge
Abstract: Optical systems and methods for collecting distance information are disclosed. An example optical system includes a bulk receiving optic, a plurality of illumination sources, a pixel array comprising at least a first column of pixels and a second column of pixels, each pixel in the first column of pixels being offset from an adjacent pixel in the first column of pixels by a first pixel pitch, the second column of pixels being horizontally offset from the first column of pixels by the first pixel pitch, the second column of pixels being vertically offset from the first column of pixels by a first vertical pitch; and a set of input channels interposed between the bulk receiving optic and the pixel array.
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公开(公告)号：US12146954B2
公开(公告)日：2024-11-19
申请号：US18347784
申请日：2023-07-06
Applicant: Ouster, Inc.
Inventor： Angus Pacala , Mark Frichtl
IPC: G01S17/00 , B81B5/00 , G01S7/481 , G01S7/4863 , G01S7/497 , G01S17/08 , G01S17/10 , G01S17/88 , G01S17/89 , G01S17/931 , G02B26/10 , G02B27/30 , G06V20/58 , H01L27/146 , H01L31/02 , G02B3/00 , G02B26/08 , H01L25/16 , H01S5/183 , H01S5/40
Abstract: Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element.
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公开(公告)号：US12063341B2
公开(公告)日：2024-08-13
申请号：US18317409
申请日：2023-05-15
Applicant: Ouster, Inc.
Inventor： Angus Pacala
IPC: H04N13/25 , G01S17/10 , G01S17/86 , G01S17/894 , H04N13/00 , H04N13/243 , H04N13/254 , H04N13/296 , H04N23/58
CPC classification number: H04N13/25 , G01S17/10 , G01S17/86 , G01S17/894 , H04N13/243 , H04N13/254 , H04N13/296 , H04N23/58 , H04N2013/0081
Abstract: A stereoscopic imager system, comprising: a sensor array comprising a first plurality of photosensors and a second plurality of photosensors spaced apart from the first plurality of photosensors by a gap, the first plurality of photosensors and the second plurality of photosensors being configured to detect ambient light in a scene; a moving component coupled to the sensor array and operable to move the sensor array between a first position and a second position within a full rotational image capturing cycle; and a system controller coupled to the sensor array and the moving component. The system controller can be configured to: move a field of view of a sensor array by instructing the moving component to capture a first image of an object in the scene with the first plurality of photosensors from a first perspective at the first position, and to capture a second image of the scene of the object in the scene with the second plurality of photosensors from a second perspective at the second position; and calculate, based on the first image and the second image, a distance to the object using an optical baseline defined by the gap.
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公开(公告)号：US11953600B2
公开(公告)日：2024-04-09
申请号：US17473736
申请日：2021-09-13
Applicant: Ouster, Inc.
Inventor： Angus Pacala
Abstract: Embodiments describe an electronically scanning optical system including an emitter array configured to emit light into a field, a time of flight (TOF) sensor array configured to detect emitted light reflected back from the field, an image sensor array configured to detect ambient light in the field, where a field of view of the emitter array corresponds to a field of view of the TOF sensor array and at least a subset of a field of view of the image sensor array. The optical system further including an emitter controller configured to activate a subset of the plurality of light emitters at a time, a TOF sensor controller configured to synchronize the readout of individual TOF photosensors concurrently with the firing of corresponding light emitters, and an image sensor controller configured to capture an image that is representative of the field during the emission cycle.
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