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1 US2020232787A1
CMOS IMAGE SENSOR FOR 2D IMAGING AND DEPTH MEASUREMENT WITH AMBIENT LIGHT REJECTION
Publication/Patent Number: US2020232787A1 Publication Date: 2020-07-23 Application Number: 16/838,025 Filing Date: 2020-04-01 Inventor: Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd.   IPC: G01B11/22 Abstract: Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to generate the 3D depth profile of the object using triangulation. Each row of pixels in the pixel array forms an epipolar line of the corresponding laser scan line. Timestamping provides a correspondence between the pixel location of a captured light spot and the respective scan angle of the laser to remove any ambiguity in triangulation. An Analog-to-Digital Converter (ADC) in the image sensor generates a multi-bit output in the 2D mode and a binary output in the 3D mode to generate timestamps. Strong ambient light is rejected by switching the image sensor to a 3D logarithmic mode from a 3D linear mode. Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to ...More Less
2 US2020116835A1
TIME-RESOLVING SENSOR USING SPAD + PPD OR CAPACITORS IN PIXEL FOR RANGE MEASUREMENT
Publication/Patent Number: US2020116835A1 Publication Date: 2020-04-16 Application Number: 16/714,670 Filing Date: 2019-12-13 Inventor: Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd.   IPC: G01S7/4863 Abstract: A time-resolving sensor includes a single-photon avalanche diode (SPAD), a logic circuit and differential time-to-charge converter (DTCC) circuit. The SPAD is responsive to a shutter signal to generate an output signal based on detecting an incident photon. The logic circuit generates first and second enable signals. The DTCC includes a capacitor device, first and second switching devices, and an output circuit. The first switching device is responsive to the first enable signal to transfer a charge on the capacitor device to the first floating diffusion. The second switching device is responsive to the second enable signal to transfer a remaining charge on the capacitor device to the second floating diffusion. The output circuit outputs a first voltage that is based on the first charge on the first floating diffusion and a second voltage that is based on the second charge on the second floating diffusion. A time-resolving sensor includes a single-photon avalanche diode (SPAD), a logic circuit and differential time-to-charge converter (DTCC) circuit. The SPAD is responsive to a shutter signal to generate an output signal based on detecting an incident photon. The logic circuit ...More Less
3 US10545224B2
Time-resolving sensor using SPAD + PPD or capacitors in pixel for range measurement
Publication/Patent Number: US10545224B2 Publication Date: 2020-01-28 Application Number: 15/878,392 Filing Date: 2018-01-23 Inventor: Wang, Yibing Michelle   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01S7/486 Abstract: A time-resolving sensor includes a single-photon avalanche diode (SPAD), a logic circuit and differential time-to-charge converter (DTCC) circuit. The SPAD is responsive to a shutter signal to generate an output signal based on detecting an incident photon. The logic circuit generates first and second enable signals. The DTCC includes a capacitor device, first and second switching devices, and an output circuit. The first switching device is responsive to the first enable signal to transfer a charge on the capacitor device to the first floating diffusion. The second switching device is responsive to the second enable signal to transfer a remaining charge on the capacitor device to the second floating diffusion. The output circuit outputs a first voltage that is based on the first charge on the first floating diffusion and a second voltage that is based on the second charge on the second floating diffusion. A time-resolving sensor includes a single-photon avalanche diode (SPAD), a logic circuit and differential time-to-charge converter (DTCC) circuit. The SPAD is responsive to a shutter signal to generate an output signal based on detecting an incident photon. The logic circuit ...More Less
4 US2020041258A1
CMOS IMAGE SENSOR FOR RGB IMAGING AND DEPTH MEASUREMENT WITH LASER SHEET SCAN
Publication/Patent Number: US2020041258A1 Publication Date: 2020-02-06 Application Number: 16/595,461 Filing Date: 2019-10-07 Inventor: Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd.   IPC: G01B11/22 Abstract: An imaging unit includes a light source and a pixel array. The light source projects a line of light that is scanned in a first direction across a field of view of the light source. The line of light oriented in a second direction that is substantially perpendicular to the first direction. The pixel array is arranged in at least one row of pixels that extends in a direction that is substantially parallel to the second direction. At least one pixel in a row is capable of generating two-dimensional color information of an object in the field of view based on a first light reflected from the object and is capable of generating three-dimensional (3D) depth information of the object based on the line of light reflecting from the object. The 3D-depth information includes time-of-flight information. An imaging unit includes a light source and a pixel array. The light source projects a line of light that is scanned in a first direction across a field of view of the light source. The line of light oriented in a second direction that is substantially perpendicular to the first ...More Less
5 US10718605B2
CMOS image sensor for 2D imaging and depth measurement with ambient light rejection
Publication/Patent Number: US10718605B2 Publication Date: 2020-07-21 Application Number: 16/191,415 Filing Date: 2018-11-14 Inventor: Wang, Yibing Michelle   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01B11/22 Abstract: Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to generate the 3D depth profile of the object using triangulation. Each row of pixels in the pixel array forms an epipolar line of the corresponding laser scan line. Timestamping provides a correspondence between the pixel location of a captured light spot and the respective scan angle of the laser to remove any ambiguity in triangulation. An Analog-to-Digital Converter (ADC) in the image sensor generates a multi-bit output in the 2D mode and a binary output in the 3D mode to generate timestamps. Strong ambient light is rejected by switching the image sensor to a 3D logarithmic mode from a 3D linear mode. Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to ...More Less
6 US10704896B2
CMOS image sensor for 2D imaging and depth measurement with ambient light rejection
Publication/Patent Number: US10704896B2 Publication Date: 2020-07-07 Application Number: 16/186,477 Filing Date: 2018-11-09 Inventor: Wang, Yibing Michelle   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01B11/22 Abstract: Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to generate the 3D depth profile of the object using triangulation. Each row of pixels in the pixel array forms an epipolar line of the corresponding laser scan line. Timestamping provides a correspondence between the pixel location of a captured light spot and the respective scan angle of the laser to remove any ambiguity in triangulation. An Analog-to-Digital Converter (ADC) in the image sensor generates a multi-bit output in the 2D mode and a binary output in the 3D mode to generate timestamps. Strong ambient light is rejected by switching the image sensor to a 3D logarithmic mode from a 3D linear mode. Using the same image sensor to capture both a two-dimensional (2D) image of a three-dimensional (3D) object and 3D depth measurements for the object. A laser point-scans the surface of the object with light spots, which are detected by a pixel array in the image sensor to ...More Less
7 US2020057148A1
APPARATUS FOR AND METHOD OF RANGE SENSOR BASED ON DIRECT TIME-OF-FLIGHT AND TRIANGULATION
Publication/Patent Number: US2020057148A1 Publication Date: 2020-02-20 Application Number: 16/450,290 Filing Date: 2019-06-24 Inventor: Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd   IPC: G01S7/486 Abstract: A range sensor and a method thereof. The range sensor includes a light source configured to project a plurality of sheets of light at an angle within a field of view (FOV); an image sensor, wherein the image sensor is offset from the light source; collection optics; and a controller connected to the light source, the image sensor, and the collection optics, and configured to simultaneously determine a range of a distant object based on direct time-of-flight (TOF) and a range of a near object based on triangulation. A range sensor and a method thereof. The range sensor includes a light source configured to project a plurality of sheets of light at an angle within a field of view (FOV); an image sensor, wherein the image sensor is offset from the light source; collection optics; and a ...More Less
8 US10527728B2
Apparatus and method for range measurement
Publication/Patent Number: US10527728B2 Publication Date: 2020-01-07 Application Number: 15/498,096 Filing Date: 2017-04-26 Inventor: Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd   IPC: G01S17/00 Abstract: An apparatus and a method. The apparatus includes a single-photon avalanche diode (SPAD) circuit configured to detect a photon, including a first input for receiving a first voltage (VSPAD), a second input for receiving a first signal (SHUTTER), a third input for receiving a second voltage (VDD), and an output; a logic circuit configured to latch the detected photon, including a first input connected to the output of the SPAD circuit, a second input for receiving a second signal (TXRMD), and an output; and a pinned photo diode (PPD) circuit configured to record a time of flight (TOF) of the detected photon, including a first input connected to the output of the logic circuit, a second input for receiving a third signal (VTX), a third input for receiving a fourth signal (RST), a fourth input for receiving a third voltage (VPIX), a fifth input for receiving a fifth signal (SEL), and an output. An apparatus and a method. The apparatus includes a single-photon avalanche diode (SPAD) circuit configured to detect a photon, including a first input for receiving a first voltage (VSPAD), a second input for receiving a first signal (SHUTTER), a third input for receiving a ...More Less
9 US2020027228A1
METHOD OF RECONSTRUCTING THREE DIMENSIONAL IMAGE USING STRUCTURED LIGHT PATTERN SYSTEM
Publication/Patent Number: US2020027228A1 Publication Date: 2020-01-23 Application Number: 16/186,463 Filing Date: 2018-11-09 Inventor: Shi, Lilong   Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd.   IPC: G06T7/521 Abstract: A method of reconstructing a three dimensional image using a structured light pattern system is provided as follows. A class identifier of an observed pixel on a captured image by a camera is extracted. The observed pixel has a coordinate (x, y) on the captured image. A first relative position of the x coordinate of the observed pixel in a tile domain of the captured image is calculated. A second relative position of one of a plurality of dots in a tile domain of a reference image using the extracted class identifier is calculated. A disparity of the observed pixel using the first relative position and the second relative position is calculated. A method of reconstructing a three dimensional image using a structured light pattern system is provided as follows. A class identifier of an observed pixel on a captured image by a camera is extracted. The observed pixel has a coordinate (x, y) on the captured image. A first ...More Less
10 US10670722B2
Increase depth resolution and depth accuracy in ToF sensors by avoiding histogrammization
Publication/Patent Number: US10670722B2 Publication Date: 2020-06-02 Application Number: 15/807,334 Filing Date: 2017-11-08 Inventor: Shi, Lilong   Wang, Yibing Michelle   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01S17/42 Abstract: A method is disclosed to determine a traveling time for a plurality of received light pulses that reflected and returned from an object. Each returned light pulse is associated with a timestamp indicating a time between a transmission time of a corresponding light pulse and a time of arrival of the returned light pulse. For each timestamp, a number C is determined of time stamps that are subsequent to the timestamp and within a predetermined time window after the timestamp. A maximum number C is determined, and an index i is determined for the maximum number C. A traveling time is determined for the plurality of light pulses as an average of the timestamp having a same index as the maximum number C and timestamps that are within the predetermined time window after the timestamp having the same index as the maximum number C. A method is disclosed to determine a traveling time for a plurality of received light pulses that reflected and returned from an object. Each returned light pulse is associated with a timestamp indicating a time between a transmission time of a corresponding light pulse and a ...More Less
11 US2020225353A1
INCREASE DEPTH RESOLUTION AND DEPTH ACCURACY IN TOF SENSORS BY AVOIDING HISTOGRAMMIZATION
Publication/Patent Number: US2020225353A1 Publication Date: 2020-07-16 Application Number: 16/830,254 Filing Date: 2020-03-25 Inventor: Shi, Lilong   Wang, Yibing Michelle   Assignee: Samsung Electronics Co., Ltd.   IPC: G01S17/42 Abstract: A method is disclosed to determine a traveling time for a plurality of received light pulses that reflected and returned from an object. Each returned light pulse is associated with a timestamp indicating a time between a transmission time of a corresponding light pulse and a time of arrival of the returned light pulse. For each timestamp, a number C is determined of time stamps that are subsequent to the timestamp and within a predetermined time window after the timestamp. A maximum number C is determined, and an index i is determined for the maximum number C. A traveling time is determined for the plurality of light pulses as an average of the timestamp having a same index as the maximum number C and timestamps that are within the predetermined time window after the timestamp having the same index as the maximum number C. A method is disclosed to determine a traveling time for a plurality of received light pulses that reflected and returned from an object. Each returned light pulse is associated with a timestamp indicating a time between a transmission time of a corresponding light pulse and a ...More Less
12 US2020033456A1
TIME-RESOLVING IMAGE SENSOR FOR RANGE MEASUREMENT AND 2D GREYSCALE IMAGING
Publication/Patent Number: US2020033456A1 Publication Date: 2020-01-30 Application Number: 16/140,529 Filing Date: 2018-09-24 Inventor: Wang, Yibing Michelle   Shi, Lilong   Ovsiannikov, Ilia   Assignee: Samsung Electronics Co., Ltd.   IPC: G01S7/486 Abstract: An image sensor includes a time-resolving sensor and a processor. The time-resolving sensor outputs a first signal and a second signal pair in response detecting one or more photons that have been reflected from an object. A first ratio of a magnitude of the first signal to a sum of the magnitude of the first signal and a magnitude of the second signal is proportional to a time of flight of the one or more detected photons. A second ratio of the magnitude of the second signal to the sum of the magnitude of the first signal and the magnitude of the second signal is proportional to the time of flight of the one or more detected photons. The processor determines a surface reflectance of the object where the light pulse has been reflected based on the first signal and the second signal pair and may generate a grayscale image. An image sensor includes a time-resolving sensor and a processor. The time-resolving sensor outputs a first signal and a second signal pair in response detecting one or more photons that have been reflected from an object. A first ratio of a magnitude of the first signal to a ...More Less
13 US10557925B2
Time-of-flight (TOF) image sensor using amplitude modulation for range measurement
Publication/Patent Number: US10557925B2 Publication Date: 2020-02-11 Application Number: 15/340,972 Filing Date: 2016-11-01 Inventor: Wang, Yibing Michelle   Lee, Tae-yon   Ovsiannikov, Ilia   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01C3/08 Abstract: The Time-of-Flight (TOF) technique is combined with analog amplitude modulation within each pixel in an image sensor. The pixel may be a two-tap pixel or a one-tap pixel. Two photoelectron receiver circuits in the pixel receive respective analog modulating signals. The distribution of the received photoelectron charge between these two circuits is controlled by the difference (or ratio) of the two analog modulating voltages. The differential signals generated in this manner within the pixel are modulated in time domain for TOF measurement. Thus, the TOF information is added to the received light signal by the analog domain-based single-ended to differential converter inside the pixel itself. The TOF-based measurement of range and its resolution are controllable by changing the duration of modulation. An autonomous navigation system with these features may provide improved vision for drivers under difficult driving conditions like low light, fog, bad weather, or strong ambient light. The Time-of-Flight (TOF) technique is combined with analog amplitude modulation within each pixel in an image sensor. The pixel may be a two-tap pixel or a one-tap pixel. Two photoelectron receiver circuits in the pixel receive respective analog modulating signals. The ...More Less
14 US2020162721A1
APPARATUS FOR AND METHOD OF ILLUMINATION CONTROL FOR ACQUIRING IMAGE INFORMATION AND DEPTH INFORMATION SIMULTANEOUSLY
Publication/Patent Number: US2020162721A1 Publication Date: 2020-05-21 Application Number: 16/773,505 Filing Date: 2020-01-27 Inventor: Ovsiannikov, Ilia   Wang, Yibing Michelle   Deane, Peter   Assignee: Samsung Electronics Co., Ltd.   IPC: H04N13/254 Abstract: An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image sensor configured to receive light passed through the collection optics to acquire image information and depth information simultaneously. The method includes projecting light by a light source in a changing pattern that reduces the light's noticeability; passing light through collection optics and forming an epipolar plane between the collection optics and the light source; and receiving in an image sensor light passed through the collection optics to acquire image information and depth information simultaneously. An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image ...More Less
15 US10547830B2
Apparatus for and method of illumination control for acquiring image information and depth information simultaneously
Publication/Patent Number: US10547830B2 Publication Date: 2020-01-28 Application Number: 14/989,554 Filing Date: 2016-01-06 Inventor: Ovsiannikov, Ilia   Wang, Yibing Michelle   Deane, Peter   Assignee: Samsung Electronics Co., Ltd   IPC: H04N13/257 Abstract: An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image sensor configured to receive light passed through the collection optics to acquire image information and depth information simultaneously. The method includes projecting light by a light source in a changing pattern that reduces the light's noticeability; passing light through collection optics and forming an epipolar plane between the collection optics and the light source; and receiving in an image sensor light passed through the collection optics to acquire image information and depth information simultaneously. An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image ...More Less
16 US2020043196A1
MULTISCALE WEIGHTED MATCHING AND SENSOR FUSION FOR DYNAMIC VISION SENSOR TRACKING
Publication/Patent Number: US2020043196A1 Publication Date: 2020-02-06 Application Number: 16/597,846 Filing Date: 2019-10-09 Inventor: Ji, Zhengping   Shi, Lilong   Wang, Yibing Michelle   Ryu, Hyun Surk   Ovsiannikov, Ilia   Assignee: Samsung Electronics Co., Ltd.   IPC: G06T7/73 Abstract: A Dynamic Vision Sensor (DVS) pose-estimation system includes a DVS, a transformation estimator, an inertial measurement unit (IMU) and a camera-pose estimator based on sensor fusion. The DVS detects DVS events and shapes frames based on a number of accumulated DVS events. The transformation estimator estimates a 3D transformation of the DVS camera based on an estimated depth and matches confidence-level values within a camera-projection model such that at least one of a plurality of DVS events detected during a first frame corresponds to a DVS event detected during a second subsequent frame. The IMU detects inertial movements of the DVS with respect to world coordinates between the first and second frames. The camera-pose estimator combines information from a change in a pose of the camera-projection model between the first frame and the second frame based on the estimated transformation and the detected inertial movements of the DVS. A Dynamic Vision Sensor (DVS) pose-estimation system includes a DVS, a transformation estimator, an inertial measurement unit (IMU) and a camera-pose estimator based on sensor fusion. The DVS detects DVS events and shapes frames based on a number of accumulated DVS events. The ...More Less
17 US2020026980A1
NEURAL PROCESSOR
Publication/Patent Number: US2020026980A1 Publication Date: 2020-01-23 Application Number: 16/552,945 Filing Date: 2019-08-27 Inventor: Ovsiannikov, Ilia   Shafiee, Ardestani Ali   Hassoun, Joseph H.   Wang, Lei   Lee, Sehwan   Song, Joonho   Jang, Jun-woo   Wang, Yibing Michelle   Li, Yuecheng   Assignee: Samsung Electronics Co., Ltd.   IPC: G06N3/04 Abstract: A neural processor. In some embodiments, the processor includes a first tile, a second tile, a memory, and a bus. The bus may be connected to the memory, the first tile, and the second tile. The first tile may include: a first weight register, a second weight register, an activations buffer, a first multiplier, and a second multiplier. The activations buffer may be configured to include: a first queue connected to the first multiplier and a second queue connected to the second multiplier. The first queue may include a first register and a second register adjacent to the first register, the first register being an output register of the first queue. The first tile may be configured: in a first state: to multiply, in the first multiplier, a first weight by an activation from the output register of the first queue, and in a second state: to multiply, in the first multiplier, the first weight by an activation from the second register of the first queue. A neural processor. In some embodiments, the processor includes a first tile, a second tile, a memory, and a bus. The bus may be connected to the memory, the first tile, and the second tile. The first tile may include: a first weight register, a second weight register, an ...More Less
18 US2020026978A1
NEURAL PROCESSOR
Publication/Patent Number: US2020026978A1 Publication Date: 2020-01-23 Application Number: 16/552,619 Filing Date: 2019-08-27 Inventor: Ovsiannikov, Ilia   Shafiee, Ardestani Ali   Hassoun, Joseph H.   Wang, Lei   Lee, Sehwan   Song, Joonho   Jang, Jun-woo   Wang, Yibing Michelle   Li, Yuecheng   Assignee: Samsung Electronics Co., Ltd.   IPC: G06N3/04 Abstract: A neural processor. In some embodiments, the processor includes a first tile, a second tile, a memory, and a bus. The bus may be connected to the memory, the first tile, and the second tile. The first tile may include: a first weight register, a second weight register, an activations buffer, a first multiplier, and a second multiplier. The activations buffer may be configured to include: a first queue connected to the first multiplier and a second queue connected to the second multiplier. The first queue may include a first register and a second register adjacent to the first register, the first register being an output register of the first queue. The first tile may be configured: in a first state: to multiply, in the first multiplier, a first weight by an activation from the output register of the first queue, and in a second state: to multiply, in the first multiplier, the first weight by an activation from the second register of the first queue. A neural processor. In some embodiments, the processor includes a first tile, a second tile, a memory, and a bus. The bus may be connected to the memory, the first tile, and the second tile. The first tile may include: a first weight register, a second weight register, an ...More Less