公开(公告)号：US20240080414A1

公开(公告)日：2024-03-07

申请号：US18388458

申请日：2023-11-09

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese ,  Brendan Hermalyn

IPC: H04N7/18 ,  G01S7/481 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89 ,  G01S17/931 ,  H04N23/60 ,  H04N23/69

CPC classification number: H04N7/183 ,  G01S7/4812 ,  G01S7/4817 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89 ,  G01S17/931 ,  H04N23/60 ,  H04N23/69 ,  B60R1/00

Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.

公开(公告)号：US11614523B2

公开(公告)日：2023-03-28

申请号：US17091337

申请日：2020-11-06

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Pierre-Yves Droz ,  Mark Shand

IPC: G01S7/486 ,  G01S17/42 ,  G01S7/487 ,  G01S17/10 ,  G01S17/931 ,  G01S7/484 ,  G01S7/4865 ,  G05D1/02

Abstract: Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.

公开(公告)号：US11609313B2

公开(公告)日：2023-03-21

申请号：US16229193

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/48 ,  G01S17/89 ,  G06T1/00 ,  G01S7/4865 ,  G01S7/481 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US11594650B2

公开(公告)日：2023-02-28

申请号：US17191459

申请日：2021-03-03

Applicant: Waymo LLC

Inventor： Caner Onal ,  Simon Verghese ,  Pierre-Yves Droz

IPC: H01L31/0352 ,  H01L31/107 ,  H01L31/18 ,  H01L27/144 ,  G01S17/89 ,  G01S7/486 ,  G01S7/4863

Abstract: Example embodiments relate to controlling detection time in photodetectors. An example embodiment includes a device. The device includes a substrate. The device also includes a photodetector coupled to the substrate. The photodetector is arranged to detect light emitted from a light source that irradiates a top surface of the device. A depth of the substrate is at most 100 times a diffusion length of a minority carrier within the substrate so as to mitigate dark current arising from minority carriers photoexcited in the substrate based on the light emitted from the light source.

公开(公告)号：US20230032410A1

公开(公告)日：2023-02-02

申请号：US17959170

申请日：2022-10-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese ,  Brendan Hermalyn

IPC: H04N7/18 ,  H04N5/232 ,  G01S7/481 ,  G01S17/86 ,  G01S17/931 ,  G01S17/87 ,  G01S17/89

Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.

公开(公告)号：US11178348B2

公开(公告)日：2021-11-16

申请号：US17024485

申请日：2020-09-17

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: H04N5/33 ,  G06K9/00 ,  G06N3/08 ,  G01S17/87 ,  G01J5/04 ,  G01J5/02 ,  G01J5/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US20210055393A1

公开(公告)日：2021-02-25

申请号：US17091337

申请日：2020-11-06

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Pierre-Yves Droz ,  Mark Shand

IPC: G01S7/486 ,  G01S17/42 ,  G01S7/487 ,  G01S17/10 ,  G01S17/931 ,  G01S7/484 ,  G01S7/4865 ,  G05D1/02

Abstract: Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.

公开(公告)号：US10819923B1

公开(公告)日：2020-10-27

申请号：US16688081

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: G06K9/00 ,  H04N5/33 ,  G06N3/08 ,  G01J5/04 ,  G01S17/87 ,  G01J5/02 ,  G01J5/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US20180188359A1

公开(公告)日：2018-07-05

申请号：US15396476

申请日：2016-12-31

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese

IPC: G01S7/497 ,  G01S17/02 ,  G01S17/93 ,  G05D1/02

Abstract: In one example, a LIDAR device includes a light sources that emits light and a transmit lens that directs the emitted light to illuminate a region of an environment with a field-of-view defined by the transmit lens. The LIDAR device also includes a receive lens that focuses at least a portion of incoming light propagating from the illuminated region of the environment along a predefined optical path. The LIDAR device also includes an array of light detectors positioned along the predefined optical path. The LIDAR device also includes an offset light detector positioned outside the predefined optical path. The LIDAR device also includes a controller that determines whether collected sensor data from the array of light detectors includes data associated with another light source different than the light source of the device based on output from the offset light detector.

公开(公告)号：US20250080872A1

公开(公告)日：2025-03-06

申请号：US18819678

申请日：2024-08-29

Applicant: Waymo LLC

Inventor： Nirav Shailesh kumar Dharia ,  Lucian Ion ,  Simon Verghese

IPC: H04N25/705 ,  G01S17/86 ,  G01S17/894 ,  G06V10/82 ,  H04N25/13 ,  H04N25/78 ,  H04N25/79

Abstract: Example embodiments relate to devices, systems, and methods involving three-dimensional time-of-flight/visible image sensors. An example embodiment includes a device that includes a plurality of time of flight sensor (ToF) pixels and a plurality of visible image sensor (VIS) pixels. The device also includes a ToF communication channel configured to provide ToF image data indicative of one or more ToF pixels and a VIS communication channel configured to provide VIS image data indicative of one or more VIS pixels. The plurality of ToF pixels and the plurality of VIS pixels are arranged along a plane. The plurality of ToF pixels is disposed in an arrangement among the plurality of VIS pixels.