公开(公告)号：US20230009055A1

公开(公告)日：2023-01-12

申请号：US17929876

申请日：2022-09-06

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01J1/42 ,  G01J3/51 ,  G01J3/02 ,  G01S17/89 ,  G01S7/481 ,  G01S17/86 ,  G01J3/46 ,  G01S17/931 ,  G01S7/4863 ,  G01S7/4865 ,  H01L31/02

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.

公开(公告)号：US20220390610A1

公开(公告)日：2022-12-08

申请号：US17818662

申请日：2022-08-09

Applicant: Ouster, Inc.

Inventor： Pierre AMELOT ,  Daniel LU ,  Angus PACALA ,  Kairen Wong

IPC: G01S17/894 ,  B60W40/04 ,  G01S7/51 ,  G01S17/931 ,  B60W50/14

Abstract: Methods are provided for using a light ranging system. A computing system receives, from light ranging devices, ranging data including distance vectors to environmental surfaces. A distance vector can correspond to a pixel of a three-dimensional image stream. The system can identify a pose of a virtual camera relative to the light ranging devices. The light ranging devices are separated from the pose by first vectors that are used to translate some of the distance vectors using the first vectors. The system may determine colors associated with the translated distance vectors and display pixels of the three-dimensional image stream using the colors at pixel positions specified by the translated distance vectors. The system may use one or more models with the ranging data to provide semantic labels that describe a region that has been, or is likely to be, in a collision.

公开(公告)号：US20220179071A1

公开(公告)日：2022-06-09

申请号：US17538816

申请日：2021-11-30

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01S17/10 ,  H01L27/146 ,  H01L31/107 ,  G01S7/497 ,  G01S7/4865 ,  G01S7/4863 ,  G01S7/481 ,  G01S17/89 ,  G01S17/42

Abstract: A light ranging system can include a laser device and an imaging device having photosensors. The laser device illuminates a scene with laser pulse radiation that reflects off of objects in the scene. The reflections can vary greatly depending on the reflecting surface shape and reflectivity. The signal measured by photosensors can be filtered with a number of matched filter designed according to profiles of different reflected signals. A best matched filter can be identified, and hence information about the reflecting surface and accurate ranging information can be obtained. The laser pulse radiation can be emitted in coded pulses by allowing weights to different detection intervals. Other enhancements include staggering laser pulses and changing an operational status of photodetectors of a pixel sensor, as well as efficient signal processing using a sensor chip that includes processing circuits and photosensors.

公开(公告)号：US20210255281A1

公开(公告)日：2021-08-19

申请号：US17194068

申请日：2021-03-05

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL ,  Marvin SHU ,  Eric YOUNGE

IPC: G01S7/481 ,  G01S17/89 ,  G01S17/08

Abstract: Optical systems and methods for collecting distance information are disclosed. An example optical system includes a first transmitting 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 first transmitting optic and the pixel array.

公开(公告)号：US20210041570A1

公开(公告)日：2021-02-11

申请号：US17067411

申请日：2020-10-09

Applicant: Ouster, Inc.

Inventor： Angus PACALA

IPC: 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.

公开(公告)号：US20200116560A1

公开(公告)日：2020-04-16

申请号：US16534910

申请日：2019-08-07

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01J1/42 ,  G01J3/51 ,  G01S7/481 ,  G01S17/89 ,  G01J3/02

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.

公开(公告)号：US20190011562A1

公开(公告)日：2019-01-10

申请号：US16028168

申请日：2018-07-05

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01S17/88 ,  H01L31/02 ,  H01L25/16 ,  G02B27/30 ,  H01L27/146 ,  G02B26/10 ,  G01S17/08

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.

公开(公告)号：US20180329035A1

公开(公告)日：2018-11-15

申请号：US15979253

申请日：2018-05-14

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01S7/486 ,  H01L27/144 ,  H01L31/02 ,  H01L31/0216 ,  H01L31/0232 ,  H01L31/107 ,  G01S17/10

CPC classification number: G01S7/486 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4817 ,  G01S17/08 ,  G01S17/10 ,  G01S17/89 ,  G01S17/936 ,  G02B5/205 ,  H01L27/1446 ,  H01L27/14643 ,  H01L31/02027 ,  H01L31/02165 ,  H01L31/02327 ,  H01L31/107

Abstract: Embodiments describe optical imagers that include one or more micro-optic components. Some imagers can be passive imagers that include a light detection system for receiving ambient light from a field. Some imagers can be active imagers that include a light emission system in addition to the light detection system. The light emission system can be configured to emit light into the field such that emitted light is reflected off surfaces of an object in the field and received by the light detection system. In some embodiments, the light detection system and/or the light emission system includes micro-optic components for improving operational performance.

公开(公告)号：US20250012629A1

公开(公告)日：2025-01-09

申请号：US18770086

申请日：2024-07-11

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: G01J1/42 ,  G01J3/02 ,  G01J3/46 ,  G01J3/51 ,  G01S7/481 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/86 ,  G01S17/88 ,  G01S17/89 ,  G01S17/931 ,  H01L31/02

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.

公开(公告)号：US20230319253A1

公开(公告)日：2023-10-05

申请号：US18179559

申请日：2023-03-07

Applicant: Ouster, Inc.

Inventor： Angus PACALA ,  Mark FRICHTL

IPC: H04N13/218 ,  G02B5/00 ,  G02B3/00 ,  G02B5/20 ,  G02B27/46 ,  G02B30/27

CPC classification number: H04N13/218 ,  G02B3/0056 ,  G02B5/005 ,  G02B5/208 ,  G02B27/46 ,  G02B30/27

Abstract: An optical system for collecting distance information within a field is provided. The optical system may include lenses for collecting photons from a field and may include lenses for distributing photons to a field. The optical system may include lens tubes that collimate collected photons, optical filters that reject normally incident light outside of the operating wavelength, and pixels that detect incident photons. The optical system may further include illumination sources that output photons at an operating wavelength.