公开(公告)号：US12092742B2

公开(公告)日：2024-09-17

申请号：US18452322

申请日：2023-08-18

Applicant: NVIDIA Corporation

Inventor： Lin Yang ,  Mark Damon Wheeler

IPC: G01S17/89 ,  B60R11/04 ,  G01C11/02 ,  G01C21/00 ,  G01C21/30 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G05D1/00 ,  G06F16/174 ,  G06T9/00 ,  G06T9/20 ,  G06V20/56 ,  G06V20/58 ,  H04N19/17

CPC classification number: G01S17/89 ,  G01C21/30 ,  G01C21/3841 ,  G01C21/3848 ,  G01C21/3867 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G06T9/001 ,  G06T9/20 ,  G06V20/582 ,  G06V20/584 ,  G06V20/588 ,  H04N19/17 ,  B60R11/04 ,  G01C11/025 ,  G05D1/0274 ,  G06F16/1744

Abstract: Embodiments relate to methods for efficiently encoding sensor data captured by an autonomous vehicle and building a high definition map using the encoded sensor data. The sensor data can be LiDAR data which is expressed as multiple image representations. Image representations that include important LiDAR data undergo a lossless compression while image representations that include LiDAR data that is more error-tolerant undergo a lossy compression. Therefore, the compressed sensor data can be transmitted to an online system for building a high definition map. When building a high definition map, entities, such as road signs and road lines, are constructed such that when encoded and compressed, the high definition map consumes less storage space. The positions of entities are expressed in relation to a reference centerline in the high definition map. Therefore, each position of an entity can be expressed in fewer numerical digits in comparison to conventional methods.

公开(公告)号：US11967109B2

公开(公告)日：2024-04-23

申请号：US17539183

申请日：2021-11-30

Applicant: Ford Global Technologies, LLC

Inventor： Sarah Houts ,  Alexandru Mihai Gurghian ,  Vidya Nariyambut Murali ,  Tory Smith

IPC: G06T7/73 ,  G01S17/86 ,  G01S17/89 ,  G01S17/90 ,  G01S17/931 ,  G06T7/11 ,  G06V20/56

CPC classification number: G06T7/74 ,  G01S17/86 ,  G01S17/89 ,  G01S17/90 ,  G01S17/931 ,  G06T7/11 ,  G06V20/588 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30244 ,  G06T2207/30256

Abstract: According to one embodiment, a system for determining a position of a vehicle includes an image sensor, a top-down view component, a comparison component, and a location component. The image sensor obtains an image of an environment near a vehicle. The top-down view component is configured to generate a top-down view of a ground surface based on the image of the environment. The comparison component is configured to compare the top-down image with a map, the map comprising a top-down light LIDAR intensity map or a vector-based semantic map. The location component is configured to determine a location of the vehicle on the map based on the comparison.

公开(公告)号：US11965993B2

公开(公告)日：2024-04-23

申请号：US17394615

申请日：2021-08-05

Applicant: Chikayoshi Sumi

Inventor： Chikayoshi Sumi ,  Naoto Yamazaki

IPC: G01S7/52 ,  A61B6/00 ,  A61B8/00 ,  G01S15/89 ,  G01S17/90

CPC classification number: G01S7/52039 ,  A61B6/00 ,  A61B8/00 ,  G01S7/52019 ,  G01S7/52023 ,  G01S7/52025 ,  G01S7/52033 ,  G01S7/52038 ,  G01S7/52041 ,  G01S7/52046 ,  G01S7/52047 ,  G01S15/89 ,  G01S15/8915 ,  G01S15/8997 ,  G01S17/90 ,  A61B8/4488

Abstract: A measurement and imaging instrument capable of beamforming with high speed and high accuracy without approximate calculation. The instrument includes a reception unit which receives a wave arriving from a measurement object to generate a reception signal; and an instrument main body which performs a lateral modulation while superposing two waves in a two-dimensional case and three or four waves in a three-dimensional case in beamforming processing of the reception signal in which at least one wave arriving from the measurement object is processed as being transmitted or received in the axial direction or directions symmetric with respect to the axial direction to generate a multi-dimensional reception signal, performs Hilbert transform with respect to the multi-dimensional reception signal, and performs partial derivative processing or one-dimensional Fourier transform to generate analytic signals of the multi-dimensional reception signals of the two waves or the three or four waves.

公开(公告)号：US20230393276A1

公开(公告)日：2023-12-07

申请号：US18452322

申请日：2023-08-18

Applicant: NVIDIA Corporation

Inventor： Lin Yang ,  Mark Damon Wheeler

IPC: G01S17/89 ,  H04N19/17 ,  G01C21/30 ,  G06T9/00 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G06V20/58 ,  G06V20/56 ,  G01C21/00 ,  G06T9/20

CPC classification number: G01S17/89 ,  H04N19/17 ,  G01C21/30 ,  G06T9/001 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G06V20/582 ,  G06V20/584 ,  G06V20/588 ,  G01C21/3841 ,  G01C21/3867 ,  G01C21/3848 ,  G06T9/20 ,  G05D2201/0213 ,  G05D1/0274

Abstract: Embodiments relate to methods for efficiently encoding sensor data captured by an autonomous vehicle and building a high definition map using the encoded sensor data. The sensor data can be LiDAR data which is expressed as multiple image representations. Image representations that include important LiDAR data undergo a lossless compression while image representations that include LiDAR data that is more error-tolerant undergo a lossy compression. Therefore, the compressed sensor data can be transmitted to an online system for building a high definition map. When building a high definition map, entities, such as road signs and road lines, are constructed such that when encoded and compressed, the high definition map consumes less storage space. The positions of entities are expressed in relation to a reference centerline in the high definition map. Therefore, each position of an entity can be expressed in fewer numerical digits in comparison to conventional methods.

公开(公告)号：US11675057B2

公开(公告)日：2023-06-13

申请号：US17360775

申请日：2021-06-28

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Junghyun Park ,  Jungwoo Kim ,  Byunggil Jeong ,  Changgyun Shin ,  Byounglyong Choi

IPC: G01S7/481 ,  G02F1/01 ,  G02F1/19 ,  G01S17/89 ,  G01S17/90

CPC classification number: G01S7/4817 ,  G01S17/89 ,  G01S17/90 ,  G02F1/0102 ,  G02F1/0121 ,  G02F1/19

Abstract: A beam scanning apparatus includes a light source configured to emit light, and a reflective phased array device configured to reflect the light emitted from the light source and incident on the reflective phased array device, and electrically adjust a reflection angle of the reflected light reflected by the reflective phased array device, wherein the light source and the reflective phased array device are disposed such the light is incident on the reflective phased array device at an incidence angle with respect to a normal of a reflective surface of the reflective phased array device.

公开(公告)号：US20230147186A1

公开(公告)日：2023-05-11

申请号：US18058252

申请日：2022-11-22

Applicant: Microsoft Technology Licensing, LLC

Inventor： Sergio ORTIZ EGEA

IPC: G01S17/894 ,  G01S7/4865 ,  G01S17/26 ,  G01S17/90

CPC classification number: G01S17/894 ,  G01S7/4865 ,  G01S17/26 ,  G01S17/90

Abstract: Examples are disclosed herein relating to signal processing in a time of flight (ToF) system. One example provides, a method comprising emitting, via a light source, amplitude-modulated light toward an object, acquiring, via an image sensor comprising a plurality of pixels, a plurality of image frames capturing light emitted from the light source that is reflected by the object, wherein the plurality of image frames are acquired at two or more different frequencies of the amplitude-modulated light and collectively form a multifrequency frame, and for each pixel of the multifrequency frame, determining a brightness level, applying an adaptive denoising process by setting a kernel size based on the brightness level, and performing a phase unwrapping process to determine a depth value for the pixel.

公开(公告)号：US11131781B2

公开(公告)日：2021-09-28

申请号：US16577021

申请日：2019-09-20

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Caner Onal ,  Pierre-Yves Droz

IPC: G01S17/89 ,  G01T1/24 ,  G01T1/29 ,  G01T1/208 ,  G01T1/20 ,  G01S17/90

Abstract: The present disclosure relates to devices, systems, and methods relating to configurable silicon photomultiplier (SiPM) devices. An example device includes a substrate and a plurality of single photon avalanche diodes (SPADs) coupled to the substrate. The device also includes a plurality of outputs coupled to the substrate and a plurality of electrical components coupled to the substrate. The plurality of electrical components are configured to selectively connect the plurality of SPADs to the plurality of outputs by selecting which output of the plurality of outputs is connected to each SPAD of the plurality of SPADs and to thereby define a plurality of SiPMs in the device such that each SiPM of the plurality of SiPMs comprises a respective set of one or more SPADs connected to a respective output of the plurality of outputs.

公开(公告)号：US11828829B2

公开(公告)日：2023-11-28

申请号：US16562884

申请日：2019-09-06

Applicant: Dominic John Goodwill

Inventor： Dominic John Goodwill

IPC: G01S17/89 ,  G01S17/90 ,  G01S17/04 ,  G01S7/481 ,  G01S7/484 ,  G01S7/497 ,  G01S7/483

CPC classification number: G01S17/89 ,  G01S7/484 ,  G01S7/4811 ,  G01S7/4814 ,  G01S7/4817 ,  G01S7/4972 ,  G01S17/04 ,  G01S17/90 ,  G01S7/483

Abstract: An optical apparatus comprises: a light source configured to emit light composed of a sequence of shots; and a steering device optically coupled to the light source and configured to steer the shots emitted by the light source in accordance with a predefined scan pattern such that at least one intermediate shot is emitted by the light source between a first shot directed by the steering device within an aperture defined by an eye safety regulation and a subsequent, second shot directed by the steering device within the same aperture, each intermediate shot being directed by the steering device outside the aperture.

公开(公告)号：US11734935B2

公开(公告)日：2023-08-22

申请号：US17314462

申请日：2021-05-07

Applicant: Argo AI, LLC

Inventor： Kevin Chen ,  James Hays ,  Ersin Yumer

IPC: G06V20/56 ,  G01S17/90 ,  G05D1/00 ,  G06F30/20 ,  G06V10/80 ,  G09B9/04 ,  G05D1/02 ,  G06V10/774 ,  G06V10/82

CPC classification number: G06V20/56 ,  G01S17/90 ,  G05D1/0088 ,  G05D1/0221 ,  G06F30/20 ,  G06V10/774 ,  G06V10/803 ,  G06V10/82 ,  G05D2201/0213

Abstract: Methods and systems are disclosed for correlating synthetic LiDAR data to a real-world domain for use in training an model for use by autonomous vehicle when operating in an environment. To do this, the system will obtain a data set of synthetic LiDAR data, along with images of a real-world environment. The system will transfer the synthetic LiDAR data to a two-dimensional representation, use the two-dimensional representation and the images to train a model that a vehicle can use to operate in a real-world environment.

公开(公告)号：US20230161172A1

公开(公告)日：2023-05-25

申请号：US18157645

申请日：2023-01-20

Applicant: Raytheon Company

Inventor： Dennis Braunreiter ,  Aaron Stonely ,  Daniel Young

IPC: G02B27/64 ,  G01S17/90 ,  G02B26/08 ,  H04B10/112

CPC classification number: G02B27/648 ,  G01S17/90 ,  G02B26/0816 ,  H04B10/1125

Abstract: A system includes a high energy laser (HEL) configured to transmit a HEL beam and a beacon illumination laser (BIL) configured to transmit a BIL beam. The system also includes at least one fast steering mirror (FSM) configured to steer the BIL beam to be offset from the HEL beam. The system further includes at least one Coudé path FSM configured to correct for atmospheric jitter of the HEL beam and the BIL beam while maintaining the offset of the BIL beam from the HEL beam.