公开(公告)号：US11615553B1

公开(公告)日：2023-03-28

申请号：US17725636

申请日：2022-04-21

Applicant: Waymo LLC

Inventor： Craig Lewin Robinson ,  Volker Grabe ,  Colin Braley ,  Zachary Morriss ,  Stephanie McArthur ,  Andrew Crawford

IPC: G06T7/80 ,  B60W50/00 ,  B60R1/12

Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.

公开(公告)号：US11341684B1

公开(公告)日：2022-05-24

申请号：US17163772

申请日：2021-02-01

Applicant: Waymo LLC

Inventor： Craig Lewin Robinson ,  Volker Grabe ,  Colin Braley ,  Zachary Morriss ,  Stephanie McArthur ,  Andrew Crawford

IPC: B60R1/12 ,  B60W50/00 ,  G06T7/80

Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.

公开(公告)号：US10943367B1

公开(公告)日：2021-03-09

申请号：US16032417

申请日：2018-07-11

Applicant: Waymo LLC

Inventor： Craig Lewin Robinson ,  Volker Grabe ,  Colin Braley ,  Zachary Morriss ,  Stephanie McArthur ,  Andrew Crawford

IPC: G06T7/80 ,  B60R1/12 ,  B60W50/00

Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.

公开(公告)号：USRE48042E1

公开(公告)日：2020-06-09

申请号：US15919479

申请日：2018-03-13

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01C3/08 ,  G01S7/481 ,  G01S17/89

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

公开(公告)号：US20180017680A1

公开(公告)日：2018-01-18

申请号：US15715802

申请日：2017-09-26

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S17/93 ,  G01S17/87 ,  G01S17/10 ,  G01S17/89 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936 ,  H05K999/99

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US11657536B2

公开(公告)日：2023-05-23

申请号：US17149621

申请日：2021-01-14

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60 ,  G06V20/56

CPC classification number: G06T7/80 ,  G01B11/2504 ,  G06T7/60 ,  H04N13/246 ,  H04N13/282 ,  G06T2207/30204 ,  G06V20/56

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US20230094677A1

公开(公告)日：2023-03-30

申请号：US17754930

申请日：2019-10-16

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Zachary Morriss

IPC: G01J5/59 ,  G01J5/00

Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

公开(公告)号：US10976437B2

公开(公告)日：2021-04-13

申请号：US15715802

申请日：2017-09-26

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01S17/931 ,  G01C3/02 ,  G01S17/86

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US09778364B2

公开(公告)日：2017-10-03

申请号：US15455009

申请日：2017-03-09

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01C3/00 ,  G01S17/93 ,  G01S17/87 ,  G01S7/481 ,  G01S17/66 ,  G01S17/10 ,  G01S17/89 ,  G01C3/02

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US12055442B2

公开(公告)日：2024-08-06

申请号：US17754930

申请日：2019-10-16

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Zachary Morriss

IPC: G01J5/59 ,  G01J4/00 ,  G01J5/00

CPC classification number: G01J5/59 ,  G01J4/00 ,  G01J5/0025 ,  G01J2005/0077

Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.