公开(公告)号：US20210337178A1

公开(公告)日：2021-10-28

申请号：US17229671

申请日：2021-04-13

Applicant: Ouster, Inc.

Inventor： Angus Pacala

IPC: H04N13/25 ,  G01S17/894 ,  G01S17/86 ,  G01S17/10 ,  H04N13/254 ,  H04N13/243 ,  H04N13/296 ,  H04N5/225

Abstract: A stereoscopic imager system, comprising: a sensor array comprising a first plurality of photosensors and a second plurality of photosensors spaced apart from the first plurality of photosensors by a gap, the first plurality of photosensors and the second plurality of photosensors being configured to detect ambient light in a scene; a moving component coupled to the sensor array and operable to move the sensor array between a first position and a second position within a full rotational image capturing cycle; and a system controller coupled to the sensor array and the moving component. The system controller can be configured to: move a field of view of a sensor array by instructing the moving component to capture a first image of an object in the scene with the first plurality of photosensors from a first perspective at the first position, and to capture a second image of the scene of the object in the scene with the second plurality of photosensors from a second perspective at the second position; and calculate, based on the first image and the second image, a distance to the object using an optical baseline defined by the gap.

公开(公告)号：US11150347B2

公开(公告)日：2021-10-19

申请号：US15979253

申请日：2018-05-14

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Mark Frichtl

IPC: G01S17/10 ,  G02B27/30 ,  G01S7/486 ,  G02B27/00 ,  G02B27/09 ,  G01S17/42 ,  G01S7/481 ,  G01S7/4863 ,  G01S7/4865 ,  H01L31/0232 ,  H01L31/0216 ,  G01S17/931 ,  G01S17/89 ,  H01L27/146 ,  H01L31/02 ,  G01S17/08 ,  H04B10/50 ,  H04B10/67 ,  H04B10/69 ,  H04B10/80 ,  H01L27/144 ,  H01L31/107 ,  G02B5/20

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：US11105925B2

公开(公告)日：2021-08-31

申请号：US16119544

申请日：2018-08-31

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Mark Frichtl

IPC: G01S17/00 ,  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：US10859682B2

公开(公告)日：2020-12-08

申请号：US16213827

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu

IPC: G01S7/497 ,  G01S17/87 ,  G01S17/89 ,  G01S17/931 ,  G01C21/20 ,  G01C21/30 ,  G01S7/48 ,  G01S7/51 ,  G01S17/42 ,  B60Q9/00 ,  G05D1/02 ,  B60R1/00 ,  G01C21/36

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US10830888B2

公开(公告)日：2020-11-10

申请号：US15909628

申请日：2018-03-01

Applicant: Ouster, Inc.

Inventor： Marvin Shu ,  Angus Pacala ,  Mark Frichtl

IPC: G01C3/08 ,  G01S17/10 ,  H01L31/107 ,  H01L27/146 ,  G01S17/42 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/497

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：US10760957B2

公开(公告)日：2020-09-01

申请号：US16534885

申请日：2019-08-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Mark Frichtl

IPC: G01J1/42 ,  G01J3/46 ,  G01S7/481 ,  G01S17/88

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：US10520593B2

公开(公告)日：2019-12-31

申请号：US16213784

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Kairen Wong

IPC: G01B11/30 ,  G01S7/497 ,  G01S17/93 ,  G01C21/20 ,  G01C21/30 ,  G01S7/48 ,  G01S7/51 ,  G01S17/42 ,  B60Q9/00 ,  G05D1/02 ,  B60R1/00 ,  G01C21/36

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US10481269B2

公开(公告)日：2019-11-19

申请号：US16209867

申请日：2018-12-04

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Mark Frichtl ,  Marvin Shu ,  Eric Younge

IPC: G01C3/08 ,  G01S17/89 ,  G01S17/42 ,  G01S7/486 ,  G01S7/481 ,  B60L3/00 ,  H01S5/14 ,  H02J7/02 ,  H02J50/10

Abstract: A light ranging system including a shaft; a first circuit board assembly that includes a stator assembly comprising a plurality of stator elements arranged about the shaft on a surface of the first circuit board assembly; a second circuit board assembly rotationally coupled to the shaft, wherein the second circuit board assembly includes a rotor assembly comprising a plurality of rotor elements arranged about the shaft on a surface of the second circuit board assembly such that the plurality of rotor elements are aligned with and spaced apart from the plurality of stator elements; a stator driver circuit disposed on either the second or the first circuit board assemblies and configured to provide a drive signal to the plurality of stator elements, thereby imparting an electromagnetic force on the plurality of rotor elements to drive a rotation of the second circuit board assembly about the shaft; and a light ranging device mechanically coupled to the second circuit board assembly such that the light ranging device rotates with the second circuit board assembly.

公开(公告)号：US10444359B2

公开(公告)日：2019-10-15

申请号：US16028148

申请日：2018-07-05

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Mark Frichtl

IPC: G01S17/08 ,  G01S17/93 ,  G01S17/89 ,  G01S7/497 ,  G01S7/481 ,  H01L31/02 ,  G01S17/88 ,  G02B27/30 ,  H01L27/146 ,  G02B26/10 ,  G06K9/00 ,  G01S17/10 ,  G01S7/486 ,  B81B5/00 ,  H01L25/16 ,  H01S5/183 ,  G02B3/00 ,  G02B26/08 ,  H01S5/40

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：US20190179029A1

公开(公告)日：2019-06-13

申请号：US16213843

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Wil Selby ,  Mushfiqur Rouf ,  Henru Wang ,  Kairen Wong

IPC: G01S17/93 ,  G01S17/42 ,  G01S7/48 ,  G01S7/51 ,  G01S7/497 ,  G01C21/30 ,  G01C21/20

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.