Of Pulse Transit Time Patents (Class 356/5.01)
  • Patent number: 11906623
    Abstract: Techniques are described for determining whether to process a job request. An example, method can include a device emitting a first pulse using a light detection and ranging (LIDAR) system coupled to an autonomous vehicle. The device can receive a first signal reflected off of an object. The device can emit a second pulse using the system, a threshold time interval being configured for the second laser pulse to hit the object in motion. The device can receive a second signal reflected off of the object. The device can determine a first time of flight information of the first signal and a second time of flight information of the second signal. The device can determine a velocity of the object based at least in part on the first time of flight information and the second time of flight information.
    Type: Grant
    Filed: January 25, 2023
    Date of Patent: February 20, 2024
    Assignee: PlusAI, Inc.
    Inventors: Ankur Agarwal, Timothy P. Daly, Jr., Anurag Ganguli
  • Patent number: 11906669
    Abstract: A distance information acquisition device includes: a light emitter which emits light according to an emission pulse indicating emission; a solid-state imaging element which performs exposure according to an exposure pulse indicating exposure; an emission/exposure controller which generates a timing signal indicating a plurality of pairs of the emission pulse and the exposure pulse having a time difference that is different in each of the plurality of pairs; and a multipath detector which obtains a sequence of received light signals from the solid-state imaging element by the emission and the exposure that correspond to each of the plurality of pairs, compares the obtained sequence of received light signals and reference data created in advance as a model of a sequence of received light signals in a multipath-free environment, and determines the presence or absence of multipath according to a difference in a comparison result.
    Type: Grant
    Filed: September 29, 2020
    Date of Patent: February 20, 2024
    Assignee: NUVOTON TECHNOLOGY CORPORATION JAPAN
    Inventor: Megumi Nagata
  • Patent number: 11899091
    Abstract: A method for estimating the distance between a vehicle and an authentication device, the vehicle including a computer and a plurality of communication modules capable of communicating with the device over a wireless communication link, each communication module including an electronic clock that defines the sampling frequency of the signals received from the device. The method includes in particular the steps of addition of noise to a response signal received from the device, of sampling of the noisy response signal, of detection, at a second instant, of the noisy response signal when the amplitude of the noisy response signal exceeds a predetermined detection threshold, of calculation of the time that has elapsed between a first instant and the second instant, and of estimation of the distance between the vehicle and the device based on the calculated time.
    Type: Grant
    Filed: December 10, 2019
    Date of Patent: February 13, 2024
    Assignees: CONTINENTAL AUTOMOTIVE FRANCE, CONTINENTAL AUTOMOTIVE GMBH
    Inventors: Sylvain Godet, Dawid Durka, Rachid Benbouhout
  • Patent number: 11899110
    Abstract: A LiDAR system includes one or more light sources configured to emit a set of light pulses in a temporal sequence with randomized temporal spacings between adjacent light pulses, one or more detectors configured to receive a set of return light pulses, and a processor configured to: determine a time of flight for each return light pulse of the set of return light pulses; and obtain a point cloud based on the times of flight of the set of return light pulses. Each point corresponds to a respective return light pulse. The processor is further configured to, for each respective point of the set of points in the point cloud: analyze spatial and temporal relationships between the respective point and a set of neighboring points in the set of points; and evaluate a quality factor for the respective point based on the spatial and temporal relationships.
    Type: Grant
    Filed: September 10, 2021
    Date of Patent: February 13, 2024
    Assignee: Cepton Technologies, Inc.
    Inventors: Jon Day Allen, Dongyi Liao, Mark A. McCord
  • Patent number: 11899115
    Abstract: A chirped illumination LIDAR system having a transmitter that may include a pulsed radiation illuminator that is followed by a beam forming optics. The transmitter may be configured to output, during each illumination period of a sub-group of illumination periods, a first plurality of radiation pulses that form a decimated chirp sequence of radiation pulses; the decimated chirp sequence is a sparse representation of a chirp signal. A receiver of the system may be configured to receive, during each reception period of a sub-group of reception periods, one or more received light pulses from one or more objects that were illuminated by the one or more radiation pulses transmitted during each illumination period.
    Type: Grant
    Filed: November 16, 2020
    Date of Patent: February 13, 2024
    Assignee: APPLE INC.
    Inventors: Vladimir Koifman, Tiberiu Carol Galambos
  • Patent number: 11892573
    Abstract: Embodiments of the disclosure provide a system for analyzing noise data for light detection and ranging (LiDAR). The system includes a communication interface configured to sequentially receive noise data of the LiDAR in time windows, at least one storage device configured to store instructions, and at least one processor configured to execute the instructions to perform operations. Exemplary operations include determining an estimated noise value of a first time window using the noise data received in the first time window and determining an instant noise value of a second time window using the noise data received in the second time window. The second time window is immediately subsequent to the first time window. The operations also include determining an estimated noise value of the second time window by aggregating the estimated noise value of the first time window and the instant noise value of the second time window.
    Type: Grant
    Filed: September 11, 2021
    Date of Patent: February 6, 2024
    Assignee: GUANGZHOU WOYA LAIDELING TECHNOLOGY CO., LTD.
    Inventors: Zhenghan Zhu, Yue Lu, Lingkai Kong, John Wu
  • Patent number: 11892621
    Abstract: Provided are embodiments for a laser projection device configured to perform trajectory optimization. The device includes a power source configured to supply power to a power amplifier; a laser projector configured to emit a laser beam towards a surface of an object; a trajectory control module configured to calculate one or more parameters for a projection trajectory of the laser beam; a beam steering unit configured to control a direction of the laser beam; and wherein the power amplifier is operably coupled to the beam steering unit, wherein the output of the power amplifier is based at least in part on the calculated one or more parameters. Also provided are embodiments for a method of operating a laser projection device configured to perform trajectory optimization.
    Type: Grant
    Filed: October 14, 2020
    Date of Patent: February 6, 2024
    Assignee: FARO Technologies, Inc.
    Inventors: Carl B. Candiloro, Arkady Savikovsky
  • Patent number: 11879999
    Abstract: An apparatus for mounting a plurality of light sources of a Lidar is provided. The apparatus comprises: a plurality of mounting units held by a base structure and a fixation component that is disposed away from the base structure along a longitudinal direction of a mounting unit, the base structure and the fixation component configured to allow an adjustment of the plurality of mounting units along a horizontal direction. The plurality of the mounting units includes structures that accept the plurality of the light sources and control directions of light beams emitted by the plurality of light sources along a vertical direction.
    Type: Grant
    Filed: May 3, 2021
    Date of Patent: January 23, 2024
    Assignee: Hesai Technology Co., Ltd.
    Inventors: Jiasheng Li, Hongguang Wang, Shaoqing Xiang
  • Patent number: 11875580
    Abstract: Disclosed are methods, devices, and computer-readable media for detecting lanes and objects in image frames of a monocular camera. In one embodiment, a method is disclosed comprising receiving a plurality of images; identifying a horizon in the plurality of images by inputting the plurality of images into a deep learning (DL) model (either stored on a local device or via a network call); determining one or more camera parameters based on the horizon; and storing or using the camera parameters to initialize a camera.
    Type: Grant
    Filed: October 4, 2021
    Date of Patent: January 16, 2024
    Assignee: MOTIVE TECHNOLOGIES, INC.
    Inventors: Ali Hassan, Ahmed Ali, Syed Wajahat Ali Shah Kazmi
  • Patent number: 11867836
    Abstract: A method of determining a temporal position of a received signal within a sample series is disclosed. The method includes sampling a sensor at a sampling frequency to generate the sample series. A matched filter set of matched filters is applied to the sample series to generate a matched filter correlation set of matched filter correlations, wherein impulse responses of respective matched filters correspond to a template signal at the sampling frequency of the sensor shifted by a sub-interval shift. The matched filter correlations are evaluated to determine a received signal sub-interval shift. The temporal position of the received signal within the sample series is determined based on at least the received signal sub-interval shift.
    Type: Grant
    Filed: July 20, 2022
    Date of Patent: January 9, 2024
    Assignee: Infineon Technologies AG
    Inventors: Paul Meissner, Thomas Gigl
  • Patent number: 11852732
    Abstract: An apparatus comprising a housing, a mount configured to be coupled to a motor to horizontally move the apparatus, a wide-angle lens coupled to the housing, the wide-angle lens being positioned above the mount thereby being along an axis of rotation, the axis of rotation being the axis along which the apparatus rotates, an image capture device within the housing, the image capture device configured to receive two-dimensional images through the wide-angle lens of environment, and a LiDAR device within the housing, the LiDAR device configured to generate depth data based on the environment.
    Type: Grant
    Filed: April 3, 2023
    Date of Patent: December 26, 2023
    Assignee: Matterport, Inc.
    Inventors: David Alan Gausebeck, Kirk Stromberg, Louis D. Marzano, David Proctor, Naoto Sakakibara, Simeon Trieu, Kevin Kane, Simon Wynn
  • Patent number: 11852727
    Abstract: Optical sensing apparatus (20) includes an array (28) of emitters (50), which emit pulses of optical radiation at different, respective times in response to a control input applied to the array. A receiver (26) includes a plurality of detectors (40), which output signals indicative of times of arrival of photons at the detectors. Optics (30, 32) project the optical radiation from the emitters onto respective locations in a scene and image the respective locations onto corresponding pixels of the receiver. A controller (44) controls the emitters to emit the output pulses in a predefined spatio-temporal sequence, and collects and processes the signals output by corresponding pixels in synchronization with the spatio-temporal sequence so as to measure respective times of flight of the pulses to and from the respective locations in the scene.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: December 26, 2023
    Assignee: APPLE INC.
    Inventors: Arnaud Laflaquière, Marc Drader
  • Patent number: 11846732
    Abstract: A light detection device detects incident light according to a detection start timing. The light detection device includes photosensors, a signal combining circuit, a detection circuit, a time measurement circuit, and a timing extraction circuit. The photosensors receive light to generate output signals indicating light reception results, respectively. The signal combining circuit sums output signals from the respective photosensors to generate a combined signal. The detection circuit detects a timing at which the combined signal reaches a first threshold or larger to generate a detection signal. The time measurement circuit measures a count period between the detection start timing and the detected timing based on the detection signal. The timing extraction circuit extracts timing information from a predetermined period defined by the detected timing as a reference, the timing information indicating a timing at which the combined signal increases.
    Type: Grant
    Filed: March 8, 2019
    Date of Patent: December 19, 2023
    Assignee: OMRON CORPORATION
    Inventors: Masanobu Horino, Yuki Matsui, Ken Nakamuro, Sayuki Nakada
  • Patent number: 11835658
    Abstract: Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
    Type: Grant
    Filed: August 4, 2021
    Date of Patent: December 5, 2023
    Assignee: AEYE, Inc.
    Inventors: Luis Carlos Dussan, Allan Steinhardt, David Cook, Blair B. Lacorte
  • Patent number: 11836938
    Abstract: The present disclosure generally pertains to a time-of-flight imaging apparatus having circuitry configured to: demodulate, in a normal operation mode for determining a distance to a scene, at a predetermined number of phase locations a modulated light sensing signal representing modulated light reflected from the scene, thereby generating imaging frames for determining the distance to the scene, and apply, during the normal operation mode, a phase sweep by shifting the predetermined number of phase locations, thereby generating phase sweep frames for determining a cyclic error.
    Type: Grant
    Filed: June 19, 2020
    Date of Patent: December 5, 2023
    Assignee: Sony Semiconductor Solutions Corporation
    Inventors: Ye Chen, Ward Van Der Tempel
  • Patent number: 11837614
    Abstract: A subpixel including at least one second-conductivity-type pinned photodiode layer that forms a p-n junction with a substrate semiconductor layer, at least one floating diffusion region, and at least one transfer gate stack structure. The at least one transfer gate stack structure may at least partially laterally surround the at least one second-conductivity-type pinned photodiode layer with a total azimuthal extension angle in a range from 240 degrees to 360 degrees around a geometrical center of the second-conductivity-type pinned photodiode layer. The at least one transfer gate stack structure may include multiple edges that overlie different segments of a periphery of the at least one second-conductivity-type pinned photodiode layer, and the floating diffusion region includes a portion located between the first edge and the second edge. In addition, multiple transfer gate stack structures and multiple floating diffusion regions may be present in the subpixel.
    Type: Grant
    Filed: February 23, 2021
    Date of Patent: December 5, 2023
    Assignee: Taiwan Semiconductor Manufacturing Company Limited
    Inventors: Feng-Chien Hsieh, Yun-Wei Cheng, Wei-Li Hu, Kuo-Cheng Lee, Hsin-Chi Chen
  • Patent number: 11828878
    Abstract: A Light Detection And Ranging (LiDAR) system may include: a transmitter configured to output pulse laser; a reflecting mirror comprising two or more reflecting surfaces to reflect the pulse laser; a driver configured to rotate the reflecting mirror; a path control mirror configured to reflect the pulse laser to the reflecting surfaces of the reflecting mirror to form an optical path of the pulse laser; and a receiver configured to receive the light reflected through the reflecting mirror, and convert the received light into an electrical signal, wherein the reflecting mirror comprises: a first reflecting surface; and a second reflecting surface, wherein the first and second reflecting surfaces are connected to each other at one point, the first reflecting surface and the second reflecting surface have different tilt angles from each other, and the first reflecting surface is tilted in the opposite direction of the second reflecting surface.
    Type: Grant
    Filed: May 2, 2019
    Date of Patent: November 28, 2023
    Assignee: Hyundai Mobis Co., Ltd.
    Inventors: Young Shin Kim, Won Gyum Kim, Kyung Rin Kim, Sung Eun Jo
  • Patent number: 11828874
    Abstract: An electronic apparatus capable of determining a distance to an object based on reflected light provided by a reflection of pulsed light on the object has detectors configured to detect reception light to measure times from an emission of the pulsed light to detections of the reception light; and processing circuitry configured to determine a duration in which the reflected light is received based on the times, determine, based on one of the times in the duration, a reception timing of the reflected light included in the reception light, and determine the distance from the electronic apparatus to the object according to the reception timing of the reflected light.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: November 28, 2023
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Hidenori Okuni, Tuan Thanh Ta, Satoshi Kondo, Akihide Sai
  • Patent number: 11825761
    Abstract: Methods, apparatus, systems and articles of manufacture are disclosed for field operations based on historical field operation data. An example apparatus disclosed herein includes a field map generator to generate a field map including locations of a plurality of crop rows, the locations of the plurality of crop rows determined based on a first implement path travelled by a first implement of a first vehicle during a first operation, the first implement having a first operational width, the first implement path different from a first vehicle path of the first vehicle during the first operation, and a guidance line generator to generate a guidance line for a second vehicle during a second operation on the field, the second vehicle including a second implement to perform the second operation, the second implement having a second operational width different from the first operational width, the guidance line based on (a) the field map and (b) the second operational width.
    Type: Grant
    Filed: December 20, 2021
    Date of Patent: November 28, 2023
    Assignee: DEERE & COMPANY
    Inventors: Curtis A. Maeder, Qiang R. Liu, Terence D. Pickett, Jeffery J. Adams
  • Patent number: 11822018
    Abstract: Systems, methods, and computer-readable media are disclosed for multi-detector LIDAR and methods. An example method may include emitting, by a light emitter of a LIDAR system, a first light pulse. The example method may also include activating a first light detector of the LIDAR system at a first time, the first time corresponding a time when return light corresponding to the first light pulse would be within a first field of view of the first light detector.
    Type: Grant
    Filed: October 14, 2020
    Date of Patent: November 21, 2023
    Assignee: LG INNOTEK CO., LTD.
    Inventors: Dane P. Bennington, Ryan T. Davis, Michel H. J. Laverne
  • Patent number: 11822010
    Abstract: A LIDAR system includes a first polygon scanner, a second polygon scanner, and an optic. The first polygon scanner includes a plurality of first facets around an axis of rotation. The second polygon scanner includes plurality of second facets that are outward from the plurality of first facets relative to the axis of rotation. The optic is inward from the first polygon scanner relative to the axis of rotation. The optic is configured to output a first beam to the first polygon scanner. The first polygon scanner is configured to refract the first beam to output a second beam to the second polygon scanner. The second polygon scanner is configured to refract the second beam to output a third beam.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: November 21, 2023
    Assignee: Blackmore Sensors & Analytics, LLC
    Inventors: Edward Joseph Angus, Ryan Moore Galloway
  • Patent number: 11808854
    Abstract: Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: November 7, 2023
    Assignee: Velodyne Lidar USA, Inc.
    Inventors: David S. Hall, Pieter J. Kerstens, Mathew Noel Rekow, Stephen S. Nestinger
  • Patent number: 11802943
    Abstract: A light detection and ranging (LIDAR) system includes an optical transmitter comprising a plurality of lasers, where each of the plurality of lasers illuminates a field-of-view. A transmitter controller is configured to pulse desired ones of the plurality of lasers so that the plurality of lasers generate light in a desired illumination region. An optical receiver comprises a plurality of detectors positioned to detect light over the desired illumination region. The plurality of detectors generates an electrical detection signal. A time-of-flight measurement circuit measures the time-of-flight of light from the plurality of lasers to the plurality of detectors. The optical receiver calculates range information from the time-of-flight measurements. A receiver controller is electrically connected to the transmitter controller and is configured to bias at least some of the plurality of detectors at a bias point that achieves a desired detection signal noise level.
    Type: Grant
    Filed: October 23, 2018
    Date of Patent: October 31, 2023
    Assignee: OPSYS Tech Ltd.
    Inventor: Mark J. Donovan
  • Patent number: 11796649
    Abstract: What is proposed is a method for optically measuring distances, in the case of which a first plurality of measuring pulses is emitted during a first measuring interval by means of a transmitting element of a transmitting unit at first emitting times, and wherein a second plurality of measuring pulses is emitted during a second measuring interval by means of the transmitting element of the transmitting unit at second emitting times. The method comprises the reception of reflected measuring pulses by means of a receiving element of a receiving unit assigned to the transmitting element at receiving times. The method further comprises the determining of a first amount of times-of-flight for each received measuring pulse, wherein the first amount of times-of-flight is determined by using the first emitting times.
    Type: Grant
    Filed: October 27, 2020
    Date of Patent: October 24, 2023
    Assignee: Microvision, Inc.
    Inventors: Hanno Holzhüter, Frederik Lange, Christian Fellenberg
  • Patent number: 11784462
    Abstract: An apparatus may include an energy rate limiter, an electro-optical transmitter, and an energy monitor. The energy rate limiter limits energy transfer, based on an energy control signal, from a power supply to the energy storage module. The energy storage module is charged based on the energy transfer from the power supply. The electro-optical transmitter includes lasers coupled to local energy storage module. Laser firings of the lasers are based on an electrical potential of the energy storage module and laser enable signals corresponding to the lasers. The energy monitor is coupled to the energy storage module and triggers a safety alarm signal if a voltage provided by the energy storage module violates a safety condition related to a threshold voltage. The energy rate limiter terminates the energy transfer from the power supply to the local energy storage module after the safety condition is violated.
    Type: Grant
    Filed: August 7, 2020
    Date of Patent: October 10, 2023
    Assignee: Velodyne Lidar USA, Inc.
    Inventors: Oren Milgrome, Tyler Banas, Phillip Edwards
  • Patent number: 11782157
    Abstract: Embodiments of the disclosure provide an optical sensing system, a range estimation system for the optical sensing system, and a method for the optical sensing system. The exemplary optical sensing system includes a transmitter configured to emit a laser pulse towards an object. The optical sensing system further includes a range estimation system configured to estimate a range between the object and the optical sensing system. The range estimation system includes an analog to digital converter (ADC) configured to generate a plurality of pulse samples based on the laser pulse returned from the object. The returned laser pulse has a substantially triangular waveform including a rising edge and a falling edge. The range estimation system further includes a processor. The processor is configured to generate synthesized pulse samples on the substantially triangular waveform based on the pulse samples.
    Type: Grant
    Filed: August 21, 2020
    Date of Patent: October 10, 2023
    Assignee: GUANGZHOU WOYA LAIDELING TECHNOLOGY CO., LTD.
    Inventors: Zhenghan Zhu, Yue Lu, Yu-Ching Yeh, Lingkai Kong
  • Patent number: 11774564
    Abstract: Techniques and apparatuses are described that implement a low-cost readout module for a lidar system. The low-cost readout module includes a timing readout path and an intensity readout path, which are coupled to a receive channel of the lidar system. The timing readout path generates time-sensitive information using a threshold-triggered timing circuit, which can include a time-to-digital converter. The intensity readout path generates non-time-sensitive information using a hold-and-sample circuit, which can include a hold circuit and an analog-to-digital converter. By utilizing the threshold-triggered timing circuit to provide time-sensitive data and the hold-and-sample circuit to provide non-time-sensitive information, the readout module can have a lower cost than other readout modules that utilize a high-performance analog-to-digital converter for each receive channel.
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: October 3, 2023
    Assignee: Aptiv Technologies Limited
    Inventors: Geng Fu, Chenghui Hao
  • Patent number: 11774565
    Abstract: In accordance with some embodiments, a light detection and ranging (LiDAR) scanning system includes a light source. The light source is configured to transmit a pulse of light. The LiDAR scanning system also includes a beam steering apparatus configured to steer the pulse of light in at least one of vertically and horizontally along an optical path. The beam steering apparatus is further configured to concurrently collect scattered light generated based on the light pulse illuminating an object in the optical path. The scattered light is coaxial or substantially coaxial with the optical path. The LiDAR scanning system further includes a light converging apparatus configured to direct the collected scattered light to a focal point. The LiDAR scanning system further includes a light detector, which is situated substantially at the focal point. In some embodiments, the light detector can include an array of detectors or detector elements.
    Type: Grant
    Filed: June 3, 2021
    Date of Patent: October 3, 2023
    Assignee: Innovusion, Inc.
    Inventors: Yimin Li, Junwei Bao
  • Patent number: 11775701
    Abstract: Systems and methods of generating two-dimensional (2D) images of an environment are provided. The systems includes a measurement device and a processor configured to generate a 2D image of an environment based at least in part on a number of 2D scans, a first translation value, a first translation direction, a second translation value, a second translation direction, a first rotation value, and a second rotation value. Generating the 2D image further includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied.
    Type: Grant
    Filed: August 24, 2020
    Date of Patent: October 3, 2023
    Assignee: FARO Technologies, Inc.
    Inventors: Joao Santos, Aleksej Frank, Ahmad Ramadneh, Simon Raab, Oliver Zweigle, Derik J. White
  • Patent number: 11768279
    Abstract: A light detection and ranging (LIDAR) system and apparatus including a photonics chip mounted to a substrate, the photonics chip including one or more optical components and one or more electrical components and one or more integrated circuit (IC) chips mounted to the photonics chip to process an electrical signal generated by the one or more optical components and the one or more electrical components, wherein the one or more IC chips are physically separated from the substrate to reduce crosstalk on the LIDAR apparatus.
    Type: Grant
    Filed: June 24, 2022
    Date of Patent: September 26, 2023
    Assignee: Aeva, Inc.
    Inventors: Zhizhong Tang, Pradeep Srinivasan, Bing Shen
  • Patent number: 11768272
    Abstract: Embodiments of the disclosure provide a LiDAR assembly. The LiDAR assembly includes a central LiDAR device configured to detect an object at or beyond a first predetermined distance from the LiDAR system and an even number of multiple auxiliary LiDAR devices configured to detect an object at or within a second predetermined distance from the LiDAR system. The LiDAR assembly also includes a mounting apparatus configured to mount the central and auxiliary LiDAR devices. Each of the central and auxiliary LiDAR devices is mounted to the mounting apparatus via a mounting surface. A first mounting surface between the central LiDAR device and the mounting apparatus has an angle with a second mounting surface between one of the auxiliary LiDAR devices and the mounting apparatus.
    Type: Grant
    Filed: July 23, 2020
    Date of Patent: September 26, 2023
    Assignee: SUTENG INNOVATION TECHNOLOGY CO., LTD.
    Inventors: Chunxin Qiu, Letian Liu
  • Patent number: 11760313
    Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. The sensor pod system may include a cleaning system to clean sensing surfaces of sensor pods during operation. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: September 19, 2023
    Assignee: Zoox, Inc.
    Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
  • Patent number: 11762065
    Abstract: Embodiments discussed herein refer to generating multiple laser beams from a single beam source. Single source multi-beam splitters can produce multiple beams from a single source, precisely control the exit angle of each beam, and ensure that each beam has substantially the same intensity.
    Type: Grant
    Filed: September 28, 2022
    Date of Patent: September 19, 2023
    Assignee: Innovusion, Inc.
    Inventors: Edouard Schmidtlin, Rui Zhang
  • Patent number: 11762093
    Abstract: A light ranging system can include a laser device and an imaging device having photosensors. The laser device illuminates a scene with laser pulse radiation that reflects off of objects in the scene. The reflections can vary greatly depending on the reflecting surface shape and reflectivity. The signal measured by photosensors can be filtered with a number of matched filter designed according to profiles of different reflected signals. A best matched filter can be identified, and hence information about the reflecting surface and accurate ranging information can be obtained. The laser pulse radiation can be emitted in coded pulses by allowing weights to different detection intervals. Other enhancements include staggering laser pulses and changing an operational status of photodetectors of a pixel sensor, as well as efficient signal processing using a sensor chip that includes processing circuits and photosensors.
    Type: Grant
    Filed: November 30, 2021
    Date of Patent: September 19, 2023
    Assignee: Ouster, Inc.
    Inventors: Angus Pacala, Mark Frichtl
  • Patent number: 11754442
    Abstract: A light-receiving apparatus (1a) includes a counting unit (11), a setting unit (12), and an acquiring unit (13). The counting unit is configured to measure a detection number of times that represents the number of times incidence of a photon to a light-receiving element has been detected within an exposure period and to output a counted value. The setting unit is configured to set a cycle of updating time information in accordance with an elapsed time during the exposure period. The acquiring unit is configured to acquire the time information indicating a time at which the counted value reaches a threshold before the exposure period elapses.
    Type: Grant
    Filed: March 6, 2020
    Date of Patent: September 12, 2023
    Assignee: Sony Semiconductor Solutions Corporation
    Inventors: Hongbo Zhu, Kazuki Hizu, Takafumi Takatsuka, Yusuke Oike, Jun Ogi, Yoshiaki Tashiro
  • Patent number: 11753042
    Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include saturated pixels, e.g., due to over-exposure, sensing highly-reflective objects, and/or excessive ambient light. In some examples, parameters associated with power of a time-of-flight sensor can be altered based on characteristics of the saturated pixels, as well as information about non-saturated pixels neighboring the saturated pixels. For example, the neighboring pixels may provide information about whether saturation is due to ambient light, e.g., sunlight, or due to emitted light from the sensor.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: September 12, 2023
    Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
  • Patent number: 11733355
    Abstract: An optical sensor module for time-of-flight measurement comprises an optical emitter, a main detector and a reference detector which are arranged in or on a carrier. An opaque housing of the optical sensor module has a first chamber and a second chamber which are separated by a light barrier. The housing has a cover section and is arranged on the carrier such that the optical emitter is located inside the first chamber, the main detector is located inside the second chamber and the reference detector is located outside the first chamber. Furthermore, a main surface of the cover section is positioned opposite the carrier. The optical emitter is arranged and configured to emit light through a first aperture in the cover section, and the main detector is arranged and configured to detect light entering the second chamber through a second aperture in the cover section.
    Type: Grant
    Filed: August 24, 2017
    Date of Patent: August 22, 2023
    Assignee: AMS AG
    Inventors: Robert Kappel, Mario Manninger, Todd Bishop
  • Patent number: 11733359
    Abstract: Optical sensing apparatus includes at least one semiconductor substrate and a first array of single-photon detectors, which are disposed on the at least one semiconductor substrate, and second array of counters, which are disposed on the at least one semiconductor substrate and are configured to count electrical pulses output by the single-photon detectors. Routing and aggregation logic is configured, in response to a control signal, to connect the single-photon detectors to the counters in a first mode in which each of at least some of the counters aggregates and counts the electrical pulses output by a respective first group of one or more of the single-photon detectors, and in a second mode in which each of the at least some of the counters aggregates and counts the electrical pulses output by a respective second group of two or more of the single-photon detectors.
    Type: Grant
    Filed: October 26, 2020
    Date of Patent: August 22, 2023
    Assignee: APPLE INC.
    Inventors: Nadav Fine, Amir Nevet, Oz Barak
  • Patent number: 11726180
    Abstract: Provided are a light emitting module, a optical signal detection unit, an optical system and a laser radar system. The light emitting module comprises: a high-frequency modulation signal output unit (10), which is configured to output at least two preset high-frequency modulation signals with different frequencies; a laser emitting unit (20), which is connected with the high-frequency modulation signal output unit (10), and is configured to emit at least two laser beams with different frequencies after being respectively modulated by at least two high-frequency modulation signals with different frequencies; a reference signal emitting unit (30), which is connected with the high-frequency modulation signal output unit (10), and is configured to emit at least two reference signals with different frequencies after being respectively modulated by at least two high-frequency modulation signals with different frequencies.
    Type: Grant
    Filed: May 27, 2019
    Date of Patent: August 15, 2023
    Assignee: LEISHEN INTELLIGENT SYSTEM CO., LTD.
    Inventors: Xiaobo Hu, Sunguang Liu, Ying Liu
  • Patent number: 11726204
    Abstract: Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: August 15, 2023
    Assignee: Ouster, Inc.
    Inventors: Angus Pacala, Mark Frichtl
  • Patent number: 11726205
    Abstract: Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element.
    Type: Grant
    Filed: April 23, 2021
    Date of Patent: August 15, 2023
    Assignee: Ouster, Inc.
    Inventors: Angus Pacala, Mark Frichtl
  • Patent number: 11726313
    Abstract: A directable light beam handling device for use in optical communication contains is provided that contains a rotation mechanism with a rotatable ring of soft magnetic material encircling a path of the beam from a beam expander. A mirror or prism being coupled to the rotatable ring is rotated with the ring. The ring includes an array of soft magnetic ridges, forming elevations extending from a surface of the ring. At least three electromagnets are used to drive rotation of the ring around the beam axis. Each electromagnets comprises a soft magnetic yoke, having poles at a first and second end portion of the yoke. The pole at the first end portion faces said surface of the ring, the first end portion having ridges elevated from the yoke in the direction towards the ring, in parallel with the ridges of the ring.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: August 15, 2023
    Assignee: Nederlandse Organisatie voor toegepast-natuurwetenschappelijk onderzoek TNO
    Inventor: Stefan Kuiper
  • Patent number: 11726211
    Abstract: A LIDAR system, preferably including one or more: optical emitters, optical detectors, beam directors, and/or processing modules. A method of LIDAR system operation, preferably including: determining a signal, outputting the signal, receiving a return signal, and/or analyzing the return signal.
    Type: Grant
    Filed: July 6, 2022
    Date of Patent: August 15, 2023
    Assignee: Red Leader Technologies, Inc.
    Inventors: Jacob Hillard, John Dean, Jhoneldrick Millares, Rebecca Wong, Logan Herrera
  • Patent number: 11718219
    Abstract: Disclosed is a lamp control apparatus according to an embodiment of the present disclosure, which includes information acquirer that acquires information on a sensor of a vehicle and acquires distance information between the sensor and a ground from the sensor, and a controller that calculates a slope of the vehicle based on the information on the sensor and the distance information between the sensor and the ground and generates a control signal for controlling a lamp of the vehicle based on the calculated slope of the vehicle.
    Type: Grant
    Filed: May 4, 2022
    Date of Patent: August 8, 2023
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventor: Myeong Je Kim
  • Patent number: 11714169
    Abstract: A light detection and ranging (LIDAR) system including a tunable laser beam source that generates a modulated laser beam over a frequency modulation range; a spiral phase plate resonator (SPPR) device responsive to the modulated laser beam and providing a transmitted beam; and a mirror responsive to the transmitted beam and directing the transmitted beam at a certain angle therefrom depending on the frequency of the laser beam.
    Type: Grant
    Filed: August 9, 2022
    Date of Patent: August 1, 2023
    Assignee: NORTHROP GRUMMAN SYSTEMS CORPORATION
    Inventor: Yisa S. Rumala
  • Patent number: 11709227
    Abstract: A sensor system is disclosed. The sensor system may comprise a housing; an emitter, carried by the housing, that emits a beam comprising depth-data signals; a beam-distribution adjustment system; and a processor programmed to control the adjustment system by selectively changing an angular distribution of the depth-data signals emitted from the housing.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: July 25, 2023
    Assignee: Ford Global Technologies, LLC
    Inventors: Codrin Cionca, Juan Enrique Castorena Martinez, Mostafa Parchami, Linjun Zhang, Zhen Zhao
  • Patent number: 11703307
    Abstract: A human transported weapons system is comprised of a barrel, a targeting subsystem, a computational subsystem, positioning means, and, a firing subsystem. The barrel is movably mounted within a stock for propelling a projectile towards an area of sighting. The targeting subsystem identifies a chosen target in the area of sighting and locking onto the chosen target at a first time. The computational subsystem, responsive to the targeting subsystem, determines where the chosen target is, and determines where the projectile needs to be aimed to strike the chosen target at a firing time. The positioning means, adjusts the position of the barrel within the stock, responsive to the computational subsystem. The firing subsystem, activates firing at the firing time to propel the projectile through the barrel at the chosen target at the firing time.
    Type: Grant
    Filed: June 10, 2020
    Date of Patent: July 18, 2023
    Inventors: Brett C. Bilbrey, David H. Sitrick
  • Patent number: 11698443
    Abstract: Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.
    Type: Grant
    Filed: June 18, 2020
    Date of Patent: July 11, 2023
    Assignee: VELODYNE LIDAR USA, INC.
    Inventors: David S. Hall, Pieter J. Kerstens
  • Patent number: 11694350
    Abstract: In a method for time-of-flight (ToF) based measurement, a scene is illuminated using a ToF light source modulated at a first modulation frequency FMOD(1). While the light is modulated using FMOD(1), depths are measured to respective surface points within the scene, where the surface points are represented by a plurality of respective pixels. At least one statistical distribution parameter is computed for the depths. A second modulation frequency FMOD(2) higher than FMOD(1) is determined based on the at least one statistical distribution parameter. The depths are then re-measured using FMOD(2) to achieve a higher depth accuracy.
    Type: Grant
    Filed: December 2, 2020
    Date of Patent: July 4, 2023
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Gal Bitan, Roy Yam, Gershi Koltun
  • Patent number: 11693927
    Abstract: Described herein are systems, methods, and non-transitory computer readable media for generating fused sensor data through metadata association. First sensor data captured by a first vehicle sensor and second sensor data captured by a second vehicle sensor are associated with first metadata and second metadata, respectively, to obtain labeled first sensor data and labeled second sensor data. A frame synchronization is performed between the first sensor data and the second sensor data to obtain a set of synchronized frames, where each synchronized frame includes a portion of the first sensor data and a corresponding portion of the second sensor data. For each frame in the set of synchronized frames, a metadata association algorithm is executed on the labeled first sensor data and the labeled second sensor data to generate fused sensor data that identifies associations between the first metadata and the second metadata.
    Type: Grant
    Filed: July 24, 2020
    Date of Patent: July 4, 2023
    Assignee: Pony AI Inc.
    Inventors: Kevin Sheu, Jie Mao, Deling Li