Patents by Inventor Luke Wachter
Luke Wachter 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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Publication number: 20190033430Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.Type: ApplicationFiled: September 28, 2018Publication date: January 31, 2019Inventors: Benjamin Ingram, Pierre-Yves Droz, Luke Wachter, Scott McCloskey, Blaise Gassend, Gaetan Pennecot
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Publication number: 20190011544Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes a communication interface that receives timing information from an external system. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the received timing information.Type: ApplicationFiled: July 7, 2017Publication date: January 10, 2019Inventors: Blaise Gassend, Benjamin Ingram, Luke Wachter
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Publication number: 20180372853Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.Type: ApplicationFiled: September 3, 2018Publication date: December 27, 2018Inventors: Pierre-Yves Droz, David Neil Hutchison, Luke Wachter, Alexander McCauley
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Publication number: 20180356500Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.Type: ApplicationFiled: July 9, 2018Publication date: December 13, 2018Inventors: Benjamin INGRAM, Pierre-Yves DROZ, Luke WACHTER, Scott MCCLOSKEY, Blaise GASSEND, Gaetan PENNECOT
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Patent number: 10120079Abstract: 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.Type: GrantFiled: September 25, 2017Date of Patent: November 6, 2018Assignee: Waymo LLCInventors: Gaetan Pennecot, Zachary Morriss, Samuel Lenius, Ionut Iordache, Daniel Gruver, Pierre-Yves Droz, Luke Wachter, Drew Ulrich, William McCann, Rahim Pardhan, Bernard Fidric, Anthony Levandowski, Peter Avram
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Patent number: 10094916Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.Type: GrantFiled: June 9, 2017Date of Patent: October 9, 2018Assignee: Waymo LLCInventors: Pierre-Yves Droz, David Neil Hutchison, Luke Wachter, Alexander McCauley
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Publication number: 20180267146Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.Type: ApplicationFiled: February 20, 2018Publication date: September 20, 2018Inventors: Benjamin Ingram, Pierre-Yves Droz, Luke Wachter, Scott McCloskey, Blaise Gassend, Gaetan Pennecot
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Publication number: 20180149732Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.Type: ApplicationFiled: January 26, 2018Publication date: May 31, 2018Inventors: Pierre-yves Droz, Gaetan Pennecot, Anthony Levandowski, Drew Eugene Ulrich, Zach Morriss, Luke Wachter, Dorel Ionut Iordache, William McCann, Daniel Gruver, Bernard Fidric, Samuel William Lenius
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Patent number: 9880263Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.Type: GrantFiled: April 6, 2015Date of Patent: January 30, 2018Assignee: Waymo LLCInventors: Pierre-yves Droz, Gaetan Pennecot, Anthony Levandowski, Drew Eugene Ulrich, Zach Morriss, Luke Wachter, Dorel Ionut Iordache, William McCann, Daniel Gruver, Bernard Fidric, Samuel William Lenius
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Publication number: 20180017680Abstract: 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.Type: ApplicationFiled: September 26, 2017Publication date: January 18, 2018Inventors: 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
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Publication number: 20180011196Abstract: 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.Type: ApplicationFiled: September 25, 2017Publication date: January 11, 2018Inventors: Gaetan Pennecot, Zachary Morriss, Samuel Lenius, Ionut Iordache, Daniel Gruver, Pierre-Yves Droz, Luke Wachter, Drew Ulrich, William Mccann, Rahim Pardhan, Bernard Fidric, Anthony Levandowski, Peter Avram
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Patent number: 9864063Abstract: 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.Type: GrantFiled: April 20, 2017Date of Patent: January 9, 2018Assignee: Waymo LLCInventors: 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
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Patent number: 9778364Abstract: 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.Type: GrantFiled: March 9, 2017Date of Patent: October 3, 2017Assignee: Waymo LLCInventors: 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
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Publication number: 20170219713Abstract: 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.Type: ApplicationFiled: April 20, 2017Publication date: August 3, 2017Inventors: 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
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Publication number: 20170176597Abstract: 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.Type: ApplicationFiled: March 9, 2017Publication date: June 22, 2017Inventors: 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
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Patent number: 9625582Abstract: 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.Type: GrantFiled: March 25, 2015Date of Patent: April 18, 2017Assignee: Google Inc.Inventors: 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
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Publication number: 20160291134Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.Type: ApplicationFiled: April 6, 2015Publication date: October 6, 2016Inventors: Pierre-yves Droz, Gaetan Pennecot, Anthony Levandowski, Drew Eugene Ulrich, Zach Morriss, Luke Wachter, Dorel Ionut Iordach, William McCann, Daniel Gruver, Bernard Fidric, Samuel William Lenius
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Publication number: 20160282468Abstract: 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.Type: ApplicationFiled: March 25, 2015Publication date: September 29, 2016Inventors: 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
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Patent number: 9080866Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.Type: GrantFiled: June 26, 2013Date of Patent: July 14, 2015Assignee: Google Inc.Inventors: Jonathan Baldwin Dowdall, Jiajun Zhu, Pierre-yves Droz, Luke Wachter, Dorel Ionut Iordache
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Patent number: 9048370Abstract: Methods and devices are provided for determining an operating bias voltage of a photodiode. One example method includes (i) varying a bias voltage of a photodiode; (ii) detecting spurious signals generated by the photodiode while varying the bias voltage of the photodiode; (iii) determining a threshold bias voltage at which a frequency of occurrence of the spurious signals reaches a threshold frequency; (iv) determining an operating bias voltage for the photodiode based on at least the threshold bias voltage; and (v) operating the photodiode with the operating bias voltage in a light-detection and ranging (LIDAR) system.Type: GrantFiled: March 14, 2013Date of Patent: June 2, 2015Assignee: Google Inc.Inventors: Chris Urmson, Pierre-yves Droz, Luke Wachter