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公开(公告)号：US20240062554A1
公开(公告)日：2024-02-22
申请号：US18501208
申请日：2023-11-03
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoli Lu
CPC classification number: G06V20/56 , B60W50/0205 , B60W60/00 , G06V10/759 , G06V10/803 , G06V10/98 , B60W2050/0215 , B60W2420/42
Abstract: A method includes obtaining, by a processing device, an impact analysis configuration related to an image sensor operation type for an autonomous vehicle (AV), receiving, by the processing device, image data from a sensing system including at least one image sensor of the AV, causing, by the processing device, fault detection to be performed based on the image data, causing, by the processing device, a fault notification to be generated using the impact analysis configuration, and sending, by the processing device to a data processing system of the AV, the fault notification to perform at least one action to address the fault notification. The fault notification includes a fault summary related to the image sensor operation type.
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22.发明公开公开(公告)号：US20230262358A1
公开(公告)日：2023-08-17
申请号：US18304898
申请日：2023-04-21
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
CPC classification number: H04N25/745 , G06T5/50 , G01S17/86 , H04N25/42 , H04N25/44 , H04N25/63 , H04N25/75 , G06T2207/20224
Abstract: This disclosure describes devices, systems, and methods that relate to obtaining image frames with variable resolutions in synchronization with a clock source. An example device may include an image sensor, a clock input, and a controller. The controller includes at least one processor and a memory. The at least one processor is operable to execute program instructions stored in the memory so as to carry out operations. The operations include receiving, by the clock input, a clock signal. The clock signal is a periodic signal defining at least one scan interval. The operations also include during the scan interval, causing the image sensor to capture a full resolution image frame. The operations yet further include during the scan interval, causing the image sensor to capture at least one reduced resolution image frame.
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公开(公告)号：US20220392229A1
公开(公告)日：2022-12-08
申请号：US17703223
申请日：2022-03-24
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoli Lu
Abstract: A method includes receiving, from a sensing system of an autonomous vehicle (AV), image data including first image data and second image data. The method further includes determining, for a frame, whether an amount of image data matching between the first image data and the second image data satisfies a first threshold condition, in response to determining that the amount of image data matching satisfies a first threshold condition, identifying the frame as invalid, determining whether a number of consecutive frames determined to be invalid satisfies a second threshold condition, and in response to determining that the number of consecutive frames determined to be invalid satisfies the second threshold condition, generating a notification that the sensing system is outputting invalid data.
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公开(公告)号：US20220260689A1
公开(公告)日：2022-08-18
申请号：US17661687
申请日：2022-05-02
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia
IPC: G01S7/4863 , H01L31/0232 , H01L31/107 , H01L27/144
Abstract: The present disclosure relates to devices, light detection and ranging (lidar) systems, and vehicles involving solid-state, single photon detectors. An example device includes a substrate defining a primary plane and a plurality of photodetector cells disposed along the primary plane. The plurality of photodetector cells includes at least one large-area cell and at least one small-area cell. The large-area cell has a first area and the small-area cell has a second area and the first area is greater than the second area. The device also includes read out circuitry coupled to the plurality of photodetector cells. The read out circuitry is configured to provide an output signal based on incident light detected by the plurality of photodetector cells.
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25.发明申请公开(公告)号：US20220210362A1
公开(公告)日：2022-06-30
申请号：US17570811
申请日：2022-01-07
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoying He , Benjamin Frevert
Abstract: This disclosure describes devices, systems, and methods that relate to obtaining image frames with variable resolutions in synchronization with a clock source. An example device may include an image sensor, a clock input, and a controller. The controller includes at least one processor and a memory. The at least one processor is operable to execute program instructions stored in the memory so as to carry out operations. The operations include receiving, by the clock input, a clock signal. The clock signal is a periodic signal defining at least one scan interval. The operations also include during the scan interval, causing the image sensor to capture a full resolution image frame. The operations yet further include during the scan interval, causing the image sensor to capture at least one reduced resolution image frame.
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Patent Agency Ranking
公开(公告)号：US20220191466A1
公开(公告)日：2022-06-16
申请号：US17121861
申请日：2020-12-15
Applicant: Waymo LLC
Inventor： Andy Wong , Nirav Dharia
Abstract: The present disclosure relates to systems, vehicles, and methods for detecting optical defects in an optical path of a camera system. An example system may include an image sensor configured to provide images of a field of view via an optical path that extends through an optical window. The system also includes at least one phase-detection device and a controller. The controller is configured to execute instructions stored in the memory so as to carry out various operations, including receiving, from the image sensor, first pixel information indicative of an image of the field of view. The operations additionally include receiving, from the at least one phase-detection device, second pixel information indicative of a portion of the field of view. The operations yet further include determining, based on the first pixel information and the second pixel information, at least one optical defect associated with the optical path.
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公开(公告)号：US20220188560A1
公开(公告)日：2022-06-16
申请号：US17123440
申请日：2020-12-16
Applicant: Waymo LLC
Inventor： Nirav Dharia , Lucian Ion
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), and configured to operate at a frame rate higher than a threshold rate. The system also includes an image processing resource. The system further includes control circuitry configured to perform operations that include obtaining, from the image sensor, a full-resolution image of an environment. The full-resolution image contains each respective ROI of the plurality of ROIs. The operations also include selecting a particular ROI based on the full-resolution image, and detecting an object of interest in the particular ROI. The operations include determining a mode of operation by which subsequent image data generated by the particular ROI is to be processed. The operations further include processing, based on the mode of operation and the frame rate, the image data comprising a plurality of ROI images of the object of interest.
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公开(公告)号：US20210173052A1
公开(公告)日：2021-06-10
申请号：US16707127
申请日：2019-12-09
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia
IPC: G01S7/4863 , H01L27/144 , H01L31/107 , H01L31/0232
Abstract: The present disclosure relates to devices, light detection and ranging (lidar) systems, and vehicles involving solid-state, single photon detectors. An example device includes a substrate defining a primary plane and a plurality of photodetector cells disposed along the primary plane. The plurality of photodetector cells includes at least one large-area cell and at least one small-area cell. The large-area cell has a first area and the small-area cell has a second area and the first area is greater than the second area. The device also includes read out circuitry coupled to the plurality of photodetector cells. The read out circuitry is configured to provide an output signal based on incident light detected by the plurality of photodetector cells.
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公开(公告)号：US11874402B2
公开(公告)日：2024-01-16
申请号：US17661687
申请日：2022-05-02
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia
IPC: H01L31/02 , G01S7/4863 , H01L31/0232 , H01L31/107 , H01L27/144
CPC classification number: G01S7/4863 , H01L27/1446 , H01L31/02327 , H01L31/107
Abstract: The present disclosure relates to devices, light detection and ranging (lidar) systems, and vehicles involving solid-state, single photon detectors. An example device includes a substrate defining a primary plane and a plurality of photodetector cells disposed along the primary plane. The plurality of photodetector cells includes at least one large-area cell and at least one small-area cell. The large-area cell has a first area and the small-area cell has a second area and the first area is greater than the second area. The device also includes read out circuitry coupled to the plurality of photodetector cells. The read out circuitry is configured to provide an output signal based on incident light detected by the plurality of photodetector cells.
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公开(公告)号：US20230300477A1
公开(公告)日：2023-09-21
申请号：US18323093
申请日：2023-05-24
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
CPC classification number: H04N25/443 , G06F9/5038 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133
Abstract: A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.
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