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公开(公告)号：US11756283B2
公开(公告)日：2023-09-12
申请号：US17123440
申请日：2020-12-16
Applicant: Waymo LLC
Inventor： Nirav Dharia , Lucian Ion
CPC classification number: G06V10/255 , G06T7/246 , G06V40/162 , H04N23/70 , H04N23/951 , G06T2207/20084
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：US20230269484A1
公开(公告)日：2023-08-24
申请号：US18308390
申请日：2023-04-27
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
Abstract: Example embodiments relate to microlensing for real-time sensing of stray light. An example device includes an image sensor that includes a plurality of light-sensitive pixels. The device also includes a first lens positioned over a first subset of light-sensitive pixels selected from the plurality of light-sensitive pixels. Further, the device includes a controller. The controller is configured to determine a first angle of incidence of a first light signal detected by the first subset of light-sensitive pixels. The controller is also configured to, based on the first determined angle of incidence, determine an amount of stray light incident on the image sensor.
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公开(公告)号：US11706507B2
公开(公告)日：2023-07-18
申请号：US17550255
申请日：2021-12-14
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/60 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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公开(公告)号：US11678076B1
公开(公告)日：2023-06-13
申请号：US17349377
申请日：2021-06-16
Applicant: Waymo LLC
Inventor： Nirav Dharia , Vlad Cardei
Abstract: An example method includes using a plurality of switches corresponding to a plurality of capacitors to select a first set of capacitors for charging at a first time. Charging the first set of capacitors corresponds to sampling from a first set of adjacent light detectors. The method includes using the plurality of switches to select a second set of capacitors from the plurality of capacitors for discharging at a second time. The method includes using a sampling switch to sample an output of the second set of capacitors as they discharge. The output of the second set of capacitors corresponds to the first set of adjacent light detectors. The method includes determining, based on sampling the output of the second set of capacitors, a collective intensity of light received by the first set of adjacent light detectors.
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公开(公告)号：US11678059B2
公开(公告)日：2023-06-13
申请号：US17659922
申请日：2022-04-20
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
CPC classification number: H04N23/71 , G05D1/0231 , H04N23/10 , H04N23/76 , H04N25/60
Abstract: Example embodiments relate to microlensing for real-time sensing of stray light. An example device includes an image sensor that includes a plurality of light-sensitive pixels. The device also includes a first lens positioned over a first subset of light-sensitive pixels selected from the plurality of light-sensitive pixels. Further, the device includes a controller. The controller is configured to determine a first angle of incidence of a first light signal detected by the first subset of light-sensitive pixels. The controller is also configured to, based on the first determined angle of incidence, determine an amount of stray light incident on the image sensor.
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Patent Agency Ranking
公开(公告)号：US20230118504A1
公开(公告)日：2023-04-20
申请号：US18066004
申请日：2022-12-14
Applicant: Waymo LLC
Inventor： Nirav Dharia , Jia Feng
IPC: H04N25/713
Abstract: A method includes obtaining, from an image sensor, one or more images that represent an object, and determining a speed of the object based on the one or more images. The method also includes determining that the speed of the object exceeds a threshold speed and, based on determining that the speed of the object exceeds the threshold speed, determining a region of interest (ROI) of the image sensor expected to represent the object. The method further includes causing the image sensor to generate one or more ROI images using the ROI.
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公开(公告)号：US20220357186A1
公开(公告)日：2022-11-10
申请号：US17872244
申请日：2022-07-25
Applicant: Waymo LLC
Inventor： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
Abstract: A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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公开(公告)号：US20220210363A1
公开(公告)日：2022-06-30
申请号：US17655411
申请日：2022-03-18
Applicant: Waymo LLC
Inventor： Lucian Ion , Nirav Dharia , Vlad Cardei
IPC: H04N5/372
Abstract: An apparatus includes an image sensor having a plurality of pixels that form regions of interest (ROIs), analog-to-digital converter (ADC) banks, and multiplexers. Each respective multiplexer is electrically connected to (i) a corresponding ADC bank and (ii) a corresponding subset of the ROIs. The apparatus also includes control circuitry configured to obtain a full-resolution image of an environment by electrically connecting, by way of the multiplexers, each respective ADC bank to the associated respective ROI. The control circuitry is also configured to select a particular ROI based on the full-resolution image and obtain a plurality of ROI images of the particular ROI by (i) electrically connecting, to the particular ROI, a first ADC bank associated with the particular ROI and a second ADC bank associated with another ROI and (ii) digitizing pixels of the particular ROI by way of parallel operation of the first and second ADC banks.
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公开(公告)号：US11346924B2
公开(公告)日：2022-05-31
申请号：US16707127
申请日：2019-12-09
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia
IPC: G01S17/88 , 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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公开(公告)号：US20210091251A1
公开(公告)日：2021-03-25
申请号：US16577035
申请日：2019-09-20
Applicant: Waymo LLC
Inventor： Caner Onal , Pierre-Yves Droz , Nirav Dharia
IPC: H01L31/107 , H01L31/0232 , H01L27/144 , H01L31/18 , G01S7/481
Abstract: An optical system may include a substrate and a plurality of silicon photomultipliers (SiPMs) monolithically integrated with the substrate. Each SiPM may include a plurality of single photon avalanche diodes (SPADs). The optical system also includes an aperture array having a plurality of apertures. The plurality of SiPMs and the aperture array are aligned so as to define a plurality of receiver channels. Each receiver channel includes a respective SiPM of the plurality of SiPMs optically coupled to a respective aperture of the plurality of apertures.
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