Patents by Inventor Benjamin Frevert
Benjamin Frevert has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11936845Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.Type: GrantFiled: September 8, 2022Date of Patent: March 19, 2024Assignee: Waymo LLCInventors: Benjamin Frevert, Shashank Sharma
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Publication number: 20230370703Abstract: 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.Type: ApplicationFiled: May 25, 2023Publication date: November 16, 2023Inventors: Jia Feng, Damien Kelly, Ignacio Garcia Dorado, Xiaoying He, Benjamin Frevert, Nirav Dharia
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Publication number: 20230269484Abstract: 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.Type: ApplicationFiled: April 27, 2023Publication date: August 24, 2023Inventors: Benjamin Frevert, Lucian Ion, Nirav Dharia
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Publication number: 20230262358Abstract: 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.Type: ApplicationFiled: April 21, 2023Publication date: August 17, 2023Inventors: Nirav Dharia, Xiaoying He, Benjamin Frevert
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Patent number: 11706507Abstract: 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.Type: GrantFiled: December 14, 2021Date of Patent: July 18, 2023Assignee: Waymo LLCInventors: Jia Feng, Damien Kelly, Ignacio Garcia Dorado, Xiaoying He, Benjamin Frevert, Nirav Dharia
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Patent number: 11678059Abstract: 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.Type: GrantFiled: April 20, 2022Date of Patent: June 13, 2023Assignee: Waymo LLCInventors: Benjamin Frevert, Lucian Ion, Nirav Dharia
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Patent number: 11665450Abstract: 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.Type: GrantFiled: January 7, 2022Date of Patent: May 30, 2023Assignee: Waymo LLCInventors: Nirav Dharia, Xiaoying He, Benjamin Frevert
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Patent number: 11647287Abstract: The present disclosure relates to systems, vehicles, and methods that include adjusting a position of an image sensor with respect to a lens assembly. An example optical system includes a lens assembly having at least one lens. The at least one lens defines an optical axis, a focal distance, and a focal plane. The optical system also includes a lens holder coupled to the lens assembly and a substrate having a first surface. The optical system additionally includes an image sensor attached to the first surface of the substrate. Furthermore, the optical system includes an active compensation system having a piezoelectric structure coupled between the lens holder and the first surface of the substrate. The active compensation system is configured to maintain the image sensor at the focal plane over a predetermined temperature range.Type: GrantFiled: December 3, 2019Date of Patent: May 9, 2023Assignee: Waymo LLCInventors: Matthew Last, Benjamin Frevert, Matthew Rinehart, Shashank Sharma
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Publication number: 20230094677Abstract: 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.Type: ApplicationFiled: October 16, 2019Publication date: March 30, 2023Inventors: Benjamin Frevert, Zachary Morriss
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Publication number: 20230007235Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.Type: ApplicationFiled: September 8, 2022Publication date: January 5, 2023Inventors: Benjamin Frevert, Shashank Sharma
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Patent number: 11457204Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.Type: GrantFiled: November 6, 2020Date of Patent: September 27, 2022Assignee: Waymo LLCInventors: Benjamin Frevert, Shashank Sharma
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Publication number: 20220247907Abstract: 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.Type: ApplicationFiled: April 20, 2022Publication date: August 4, 2022Inventors: Benjamin Frevert, Lucian Ion, Nirav Dharia
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Publication number: 20220210305Abstract: 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.Type: ApplicationFiled: December 14, 2021Publication date: June 30, 2022Inventors: Jia Feng, Damien Kelly, Ignacio Garcia Dorado, Xiaoying He, Benjamin Frevert, Nirav Dharia
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Publication number: 20220210362Abstract: 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.Type: ApplicationFiled: January 7, 2022Publication date: June 30, 2022Inventors: Nirav Dharia, Xiaoying He, Benjamin Frevert
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Patent number: 11343435Abstract: 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.Type: GrantFiled: December 1, 2020Date of Patent: May 24, 2022Assignee: Waymo LLCInventors: Benjamin Frevert, Lucian Ion, Nirav Dharia
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Patent number: 11252366Abstract: 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.Type: GrantFiled: November 19, 2019Date of Patent: February 15, 2022Assignee: Waymo LLCInventors: Nirav Dharia, Xiaoying He, Benjamin Frevert
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Publication number: 20210203827Abstract: 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.Type: ApplicationFiled: December 1, 2020Publication date: July 1, 2021Inventors: Benjamin Frevert, Lucian Ion, Nirav Dharia
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Publication number: 20210152769Abstract: 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.Type: ApplicationFiled: November 19, 2019Publication date: May 20, 2021Inventors: Nirav DHARIA, Xiaoying HE, Benjamin FREVERT
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Patent number: 10965935Abstract: Example embodiments relate to calibration systems usable for distortion characterization in cameras. An example embodiment includes a calibration system. The calibration system includes a first calibration target that includes a first mirror, a plurality of fiducials positioned on or adjacent to the first mirror, and an indexing fiducial positioned on or adjacent to the first mirror. The calibration system also includes a second calibration target that includes one or more second mirrors and has an aperture defined therein. The first mirror and the one or more second mirrors are separated by a distance. The first mirror faces the one or more second mirrors. The indexing fiducial is visible through the aperture in the second calibration target. Reflections of the plurality of fiducials are visible through the aperture defined in the second calibration target. The reflections of the plurality of fiducials are iterated reflections.Type: GrantFiled: March 5, 2020Date of Patent: March 30, 2021Assignee: Waymo LLCInventor: Benjamin Frevert
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Publication number: 20200336733Abstract: Example embodiments relate to calibration systems usable for distortion characterization in cameras. An example embodiment includes a calibration system. The calibration system includes a first calibration target that includes a first mirror, a plurality of fiducials positioned on or adjacent to the first mirror, and an indexing fiducial positioned on or adjacent to the first mirror. The calibration system also includes a second calibration target that includes one or more second mirrors and has an aperture defined therein. The first mirror and the one or more second mirrors are separated by a distance. The first mirror faces the one or more second mirrors. The indexing fiducial is visible through the aperture in the second calibration target. Reflections of the plurality of fiducials are visible through the aperture defined in the second calibration target. The reflections of the plurality of fiducials are iterated reflections.Type: ApplicationFiled: March 5, 2020Publication date: October 22, 2020Inventor: Benjamin Frevert