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公开(公告)号：US20250098339A1
公开(公告)日：2025-03-20
申请号：US18959357
申请日：2024-11-25
Applicant: Waymo LLC
Inventor： Caner Onal , Pierre-Yves Droz , Nirav Dharia
IPC: H01L31/107 , G01S7/481 , H01L27/144 , H01L31/0232 , H01L31/18
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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公开(公告)号：US12250468B2
公开(公告)日：2025-03-11
申请号：US18308390
申请日：2023-04-27
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
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：US20240175728A1
公开(公告)日：2024-05-30
申请号：US18431467
申请日：2024-02-02
Applicant: Waymo LLC
Inventor： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
CPC classification number: G01D5/35383 , G01S13/89 , H04N5/33 , G01S7/4004
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：US11933647B2
公开(公告)日：2024-03-19
申请号：US17872244
申请日：2022-07-25
Applicant: Waymo LLC
Inventor： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
CPC classification number: G01D5/35383 , G01S13/89 , H04N5/33 , G01S7/4004
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：US20230370703A1
公开(公告)日：2023-11-16
申请号：US18323685
申请日：2023-05-25
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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Patent Agency Ranking
公开(公告)号：US20230368488A1
公开(公告)日：2023-11-16
申请号：US18225329
申请日：2023-07-24
Applicant: Waymo LLC
Inventor： Nirav Dharia , Lucian Ion
IPC: G06V10/20 , G06T7/246 , G06V40/16 , H04N23/70 , H04N23/951
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：US11496728B2
公开(公告)日：2022-11-08
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：US11428550B2
公开(公告)日：2022-08-30
申请号：US16808314
申请日：2020-03-03
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：US20220247907A1
公开(公告)日：2022-08-04
申请号：US17659922
申请日：2022-04-20
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Lucian Ion , Nirav Dharia
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：US20220137218A1
公开(公告)日：2022-05-05
申请号：US17085259
申请日：2020-10-30
Applicant: Waymo LLC
Inventor： Caner Onal , Nirav Dharia , Giulia Guidi
IPC: G01S17/89 , G01S7/484 , G01N21/359
Abstract: A system includes a near-infrared (NIR) illuminator, an NIR image sensor, a light detection and ranging (LIDAR) device, and control circuitry configured to perform operations. The operations include causing the NIR illuminator to illuminate a portion of an environment, and obtaining, from the NIR image sensor, NIR image data representing the portion of the environment illuminated by the NIR illuminator. The operations also include detecting a retroreflector within the NIR image data and, based on detecting the retroreflector within the NIR image, determining a position of the retroreflector within the environment. The operations further include, based on the position of the retroreflector within the environment, adjusting at least one parameter of the LIDAR device in connection with scanning the retroreflector.
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