公开(公告)号：US20240214708A1

公开(公告)日：2024-06-27

申请号：US18393218

申请日：2023-12-21

Applicant: PROPHESEE

Inventor： Thomas FINATEU ,  Christian BOUVIER

IPC: H04N25/78 ,  H01L27/146

CPC classification number: H04N25/78 ,  H01L27/14607 ,  H01L27/1461

Abstract: A merged frame-based and event-based image sensor pixel is provided, comprising a reverse-biased photodiode; a frame-based signal readout circuit connected to a cathode of the photodiode; and an event-based signal readout circuit connected to an anode of the photodiode. Light received in the photodiode causes the production of electrons and holes. The recombination current of the holes is continuously measured for producing the event-based signal.

公开(公告)号：US20240169577A1

公开(公告)日：2024-05-23

申请号：US18550904

申请日：2022-03-10

Applicant: PROPHESEE

Inventor： Camilo VEJARANO ,  Thomas ROUCH

IPC: G06T7/62 ,  G06T7/13 ,  G06V10/25 ,  G06V10/74 ,  G06V20/40

CPC classification number: G06T7/62 ,  G06T7/13 ,  G06V10/25 ,  G06V10/761 ,  G06V20/44

Abstract: A method for measuring attributes of a particle in motion comprises observing a region of interest with an event-based sensor oriented such that lines of a pixel array of the sensor lie across an expected trajectory of the particle (P) through the region of interest; defining two reference lines of pixels (R1, R2) separated by a spatial distance (D); sampling a first group of events produced by a first of the two reference lines; sampling a second group of events produced by the second of the two reference lines; determining a temporal distance (T) between the second and first groups of events; and providing a longitudinal speed factor (vy) of the particle based on the spatial distance and the temporal distance. The particles have a size spanning multiple adjacent pixels in a line, and the method further comprises analyzing one of the first and second groups of events over multiple time steps in order to produce an outline of the particle in space-time coordinates (x, t) including spatial components based on positions of event-triggered pixels in the lines and temporal components based on the time steps; and converting the space-time coordinates of the outline to spatial coordinates (x′, y′) by multiplying the time steps (t) of the space-time coordinates by the longitudinal speed factor (vy).

公开(公告)号：US11871125B2

公开(公告)日：2024-01-09

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: H04N23/80 ,  H04N25/40 ,  H04N25/443

CPC classification number: H04N23/80 ,  H04N25/40 ,  H04N25/443

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：US11856290B2

公开(公告)日：2023-12-26

申请号：US17686712

申请日：2022-03-04

Applicant: PROPHESEE

Inventor： Amos Sironi ,  Marc Rousseau ,  Christoph Posch ,  Xavier Lagorce

IPC: H04N23/60 ,  H04N23/57 ,  H04N25/40

CPC classification number: H04N23/665 ,  H04N23/57 ,  H04N25/40

Abstract: For processing a signal from an event-based sensor having an array of sensing elements facing a scene, the method comprises: receiving the signal including, for each sensing element, successive events originating from said sensing element depending on variations of incident light from the scene; analyzing the signal to detect a frequency pattern in a light profile sensed by at least one sensing element; and extracting information from the scene in response to detection of the frequency pattern.

公开(公告)号：US20230412930A1

公开(公告)日：2023-12-21

申请号：US18336405

申请日：2023-06-16

Applicant: PROPHESEE

Inventor： Serge BURY ,  Xavier LAGORCE

IPC: H04N23/745 ,  H04N25/60

CPC classification number: H04N23/745 ,  H04N25/60

Abstract: An apparatus comprising an interface and a processor. The interface may be configured to receive an asynchronous event stream from an event-based sensor. The event stream may comprise a series of pixel locations with a timestamp each generated in response to an autonomous detection by any of a plurality of pixels of the event-based sensor exceeding a threshold. The processor may be configured to detect a characteristic pattern of a flicker event in the event stream and generate an output signal containing a tick result in response to the characteristic pattern of the flicker event. A predicted recurring interval of the flicker event may be determined based on the characteristic pattern. The tick result may comprise future timestamps of the flicker event determined based on the predicted recurring interval for the timestamp of the autonomous detection of a particular one of the pixel locations.

公开(公告)号：US20220205835A1

公开(公告)日：2022-06-30

申请号：US17594551

申请日：2020-04-24

Applicant: PROPHESEE

Inventor： Geoffrey F. BURNS ,  Manuele BRAMBILLA ,  Christoph POSCH ,  Gaspard FLORENTZ ,  Stephane VALENTE

IPC: G01H9/00

Abstract: The present disclosure generally relates to systems and methods for imaging and sensing vibrations of an object. In one implementation, a system is provided for detecting vibrations that comprises a sensor with a plurality of pixels, each pixel including at least one photosensitive element. The sensor is configured to output signals related to illumination on each pixel. The system also includes at least one processor configured to receive the output signals from the sensor and detect, based on the output signals, one or more polarities. The at least one processor is also configured to determine timestamps associated with the output signals, analyze the timestamps and the polarities to detect vibrations of an object in the field of view of the sensor, and determine one or more frequencies of the detected vibrations.

公开(公告)号：US11368645B2

公开(公告)日：2022-06-21

申请号：US17255972

申请日：2019-06-27

Applicant: Prophesee SA

Inventor： Thomas Finateu ,  Daniel Matolin ,  Christoph Posch

IPC: H04N5/3745 ,  H04N5/378 ,  H04N5/369 ,  H04N5/345 ,  H04N5/355 ,  H04N9/04

Abstract: The present disclosure generally relates to image sensors and methods for image sensing. More specifically, and without limitation, this disclosure relates to systems and methods for providing super-pixels, and implementing and using image sensors with super-pixels. In one implementation, an image sensor includes a plurality of super-pixels. Each super-pixel may include a first photosensitive element; a detector electrically connected to the first photosensitive element and configured to generate a trigger signal when an analog signal proportional to brightness of light impinging on the first photosensitive element matches a condition; a second photosensitive element; an exposure measurement circuit electrically connected to the second photosensitive element and configured to convert an analog signal proportional to brightness of light impinging on the second photosensitive element to a digital signal; and a logic circuit electrically connected to the detector and the exposure measurement circuit and configured to enable the exposure measurement circuit in response to the trigger signal and to disable the exposure measurement circuit when the digital signal is read out from the exposure measurement circuit.

公开(公告)号：US20220092804A1

公开(公告)日：2022-03-24

申请号：US17310755

申请日：2020-02-21

Applicant: PROPHESEE

Inventor： Guillaume CHICAN ,  Manuele BRAMBILLA ,  Xavier LAGORCE

IPC: G06T7/521 ,  G01B11/25 ,  G06K9/62 ,  G01B11/14

Abstract: In one implementation, a three-dimensional image sensing system is provided that includes at least one processor that detects, from an image sensor, one or more first events based on reflections caused by electromagnetic pulses associated with a plurality of projected line patterns and corresponding to one or more first pixels of the image sensor. The at least one processor also detects, from the image sensor, one or more second events based on the reflections and corresponding to one or more second pixels of the image sensor, identifies a line corresponding to the one or more second events and the one or more first events, calculates three-dimensional rays for the one or more first pixels and the one or more second pixels based on the identified line, and calculates three-dimensional image or more first pixels and the one or more second pixels based on the three-dimensional rays and a plane equation.

公开(公告)号：US20210056323A1

公开(公告)日：2021-02-25

申请号：US16982879

申请日：2019-03-19

Applicant: ROBERT BOSCH GMBH ,  PROPHESEE

Inventor： Michael PFEIFFER ,  Jochen MARX ,  Oliver LANGE ,  Christoph POSCH ,  Xavier LAGORCE ,  Spiros NIKOLAIDIS

IPC: G06K9/00 ,  G06T7/70 ,  G06K9/62 ,  G06T7/20 ,  G08G1/16 ,  B60Q9/00 ,  B62D15/02 ,  B60T7/12 ,  B60W30/09 ,  B64C39/02 ,  G06N3/04 ,  G06N3/08

Abstract: A system (1) for detecting dynamic secondary objects (55) that have a potential to intersect the trajectory (51) of a moving primary object (50), comprising a vision sensor (2) with a light-sensitive area (20) that comprises event-based pixels (21), so that a relative change in the light intensity impinging onto an event-based pixel (21) of the vision sensor (2) by at least a predetermined percentage causes the vision sensor (2) to emit an event (21a) associated with this event-based pixel (21), wherein the system (1) further comprises a discriminator module (3) that gets both the stream of events (21a) from the vision sensor (2) and information (52) about the heading and/or speed of the motion of the primary object (50) as inputs, and is configured to identify, from said stream of events (21a), based at least in part on said information (52), events (21b) that are likely to be caused by the motion of a secondary object (55), rather than by the motion of the primary object (50).
Vision sensors (2) for use in the system (1).
A corresponding computer program.

公开(公告)号：US10469776B2

公开(公告)日：2019-11-05

申请号：US16090979

申请日：2017-04-04

Applicant: Prophesee ,  Consejo Superior de Investigaciones Cientificas

Inventor： Thomas Finateu ,  Bernabe Linares Barranco ,  Teresa Serrano Gotarredona ,  Christoph Posch

IPC: H04N5/355 ,  H04N5/3745 ,  H04N5/357 ,  H04N5/378

Abstract: This invention relates to a pixel circuit comprising a photo-sensor stage comprising a photodiode delivering a photoreceptor current, a comparison stage configured for detecting a change in a signal voltage derived from said photoreceptor current, a sample-and-hold circuit connected to the converting stage and to the comparison stage, said comparison stage configured to output an input signal for the sample-and-hold circuit, and for emitting a sampling signal to a control terminal of the sample-and-hold circuit when a change is detected in the signal voltage.