公开(公告)号：US12155000B2

公开(公告)日：2024-11-26

申请号：US17475010

申请日：2021-09-14

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.

公开(公告)号：US11962924B2

公开(公告)日：2024-04-16

申请号：US17655411

申请日：2022-03-18

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Nirav Dharia ,  Vlad Cardei

IPC: H04N25/71 ,  H04N25/713

CPC classification number: H04N25/713

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.

公开(公告)号：US11899468B2

公开(公告)日：2024-02-13

申请号：US17131302

申请日：2020-12-22

Applicant: Waymo LLC

Inventor： Evan Cull ,  Nirav Dharia

IPC: G05D1/02 ,  B60W30/095 ,  H01L31/02

CPC classification number: G05D1/0246 ,  B60W30/095 ,  H01L31/02024 ,  B60W2420/403

Abstract: A system includes an array of photodiode sensors positioned on an autonomous vehicle. Each photodiode sensor in the array of photodiode sensors is oriented in a different direction and configured to generate electrical current signals in response to detecting a flashing light in a surrounding environment of the autonomous vehicle. The system also includes a processor coupled to the array of photodiode sensors. The processor is configured to determine a location of a source of the flashing light relative to the autonomous vehicle based on electrical current signals from at least one photodiode sensor in the array of photodiode sensors. The processor is also configured to generate a command to maneuver the autonomous vehicle based on the location of the source relative to the autonomous vehicle.

公开(公告)号：US11700459B2

公开(公告)日：2023-07-11

申请号：US17651325

申请日：2022-02-16

Applicant: Waymo LLC

Inventor： Vlad Cardei ,  Lucian Ion ,  Nirav Dharia

IPC: H04N25/443 ,  G06F9/50 ,  G06V10/22 ,  H04N23/61 ,  H04N23/80 ,  H04N25/79 ,  H04N25/133 ,  H04N25/13

CPC classification number: H04N25/443 ,  G06F9/5038 ,  G06V10/22 ,  H04N23/61 ,  H04N23/80 ,  H04N25/79 ,  H04N25/133 ,  H04N25/134

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.

公开(公告)号：US11665450B2

公开(公告)日：2023-05-30

申请号：US17570811

申请日：2022-01-07

Applicant: Waymo LLC

Inventor： Nirav Dharia ,  Xiaoying He ,  Benjamin Frevert

IPC: H04N25/71 ,  G06T5/50 ,  G01S17/86 ,  H04N25/42 ,  H04N25/44 ,  H04N25/63 ,  H04N25/75

CPC classification number: H04N25/745 ,  G01S17/86 ,  G06T5/50 ,  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.

公开(公告)号：US11145778B2

公开(公告)日：2021-10-12

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 ,  G01S7/481 ,  H01L31/18 ,  H01L27/144

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.

公开(公告)号：US20210278257A1

公开(公告)日：2021-09-09

申请号：US16808314

申请日：2020-03-03

Applicant: Waymo LLC

Inventor： Nirav Dharia ,  Giulia Guidi ,  Ralph Shepard ,  Vlad Cardei ,  Lucian Ion

IPC: G01D5/353 ,  H04N5/33 ,  G01S13/89

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.

公开(公告)号：US20210152759A1

公开(公告)日：2021-05-20

申请号：US16689936

申请日：2019-11-20

Applicant: Waymo LLC

Inventor： Nirav Dharia ,  Vlad Cardei

IPC: H04N5/347 ,  H04N5/378 ,  H04N5/343

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.

公开(公告)号：US20250008203A1

公开(公告)日：2025-01-02

申请号：US18885858

申请日：2024-09-16

Applicant: Waymo LLC

Inventor： Jia Feng ,  Damien Kelly ,  Ignacio Garcia Dorado ,  Xiaoying He ,  Benjamin Frevert ,  Nirav Dharia

IPC: H04N23/45 ,  H04N5/265 ,  H04N23/60 ,  H04N23/62 ,  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.

公开(公告)号：US12105200B2

公开(公告)日：2024-10-01

申请号：US17085259

申请日：2020-10-30

Applicant: Waymo LLC

Inventor： Caner Onal ,  Nirav Dharia ,  Giulia Guidi

IPC: G01S17/89 ,  G01N21/359 ,  G01S7/484 ,  G01S7/4861

CPC classification number: G01S17/89 ,  G01N21/359 ,  G01S7/484 ,  G01S7/4861

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.