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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
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101 EP2999939B1
SYSTEM AND METHOD FOR MEASURING THE VOLUME OF A TANK
Publication/Patent Number: EP2999939B1 Publication Date: 2020-04-01 Application Number: 14799247.3 Filing Date: 2014-05-19 Inventor: Hassell, James C.   Assignee: Saudi Arabian Oil Company   IPC: G01F23/72
102 US10760906B2
Apparatus and method for obtaining three-dimensional depth image
Publication/Patent Number: US10760906B2 Publication Date: 2020-09-01 Application Number: 15/081,407 Filing Date: 2016-03-25 Inventor: You, Jangwoo   Park, Yonghwa   Yoon, Heesun   Jeon, Myungjae   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G01C3/08 Abstract: An apparatus and method for obtaining a depth image are provided. The apparatus may include a light source configured to emit first light to a first region of an object for a first time period and emit second light to a second region of the object for a second time period, the first light and the second light respectively being reflected from the first region and the second region; and an image obtainer configured to obtain a first partial depth image based on the reflected first light, obtain a second partial depth image based on the reflected second light, and obtain a first depth image of the object based on the first partial depth image and the second partial depth image.
103 US2020271447A1
Stereo Camera
Publication/Patent Number: US2020271447A1 Publication Date: 2020-08-27 Application Number: 16/643,675 Filing Date: 2018-07-18 Inventor: Aoki, Toshiyuki   Betsui, Keiichi   Kuzumi, Ichirou   Assignee: Hitachi Automotive Systems, Ltd.   IPC: G01C3/08 Abstract: Provided is a stereo camera that is capable of reducing the distance error created by entrance pupil center movement between different principal ray angles of incidence. In the present invention, imaging system unit 100a images a standard image of an object. Imaging system unit 100b images a reference image of the object. A geometric correction information storage unit 114 stores geometric correction information for the standard image and reference image, which each have error depending on the differences between the positions of the object in the standard image and reference image if the entrance pupil center indicating the point of intersection between the principal ray and optical axis moves according to the angle of incidence and the positions of the object in the standard image and reference image if it is assumed that the entrance pupil center does not move according to the angle of incidence. The geometric correction unit 119 geometrically corrects the standard image and reference image using the geometric correction information.
104 CN111458694A
激光测距系统的出光光轴调节方法及装置
Under Examination
Publication/Patent Number: CN111458694A Publication Date: 2020-07-28 Application Number: 202010440063.4 Filing Date: 2020-05-22 Inventor: 陆晓明   Assignee: 武汉徕得智能技术有限公司   IPC: G01S7/481 Abstract: 本发明提供一种激光测距系统的出光光轴调节方法及装置,属于激光测距技术领域。出光光轴调节方法包括:可见光源出射可见光束至反射镜,以使可见光束经反射镜反射至可见光源的出射点,其中,可见光束在反射镜上的光斑与中心孔的几何中心在反射镜上的正投影重合;卸载反射镜,并安装准直镜于聚光镜的中心孔内;激光器发射光束,光束经准直镜的光轴出射;调节准直镜的光轴倾角,以使激光器发射的光束的光斑位于以可见光源的出射点为中心的预设范围内。本发明提供的激光测距系统的出光光轴调节方法及装置,能够提高准直镜的调节精度,减小激光测距系统的出射光与聚光镜的光轴的夹角,从而减小激光测距系统的出射光与聚光镜的光轴同轴设置的误差。
105 US10705189B2
Multi-beam LiDAR systems with two types of laser emitter boards and methods for detection using the same
Publication/Patent Number: US10705189B2 Publication Date: 2020-07-07 Application Number: 16/693,157 Filing Date: 2019-11-22 Inventor: Qiu, Chunxin   Liu, Letian   Assignee: SUTENG INNOVATION TECHNOLOGY CO., LTD.   IPC: G01C3/08 Abstract: The present disclosure provides a multi-beam LiDAR system. The multi-beam LiDAR system includes a transmitter having an array of laser emitters. Each laser emitter is configured to emit a laser beam. The laser emitter array includes a first type of laser emitter board and a second type of laser emitter board. The second type of laser board includes two or more laser emitters. The second type of laser emitter board is not parallel to a predefined plane.
106 US10534075B2
Three-dimensional surveying instrument and three-dimensional surveying method
Publication/Patent Number: US10534075B2 Publication Date: 2020-01-14 Application Number: 15/097,745 Filing Date: 2016-04-13 Inventor: Matsumoto, Hideyuki   Tanaka, Yasushi   Hayashi, Shoji   Saito, Takaaki   Assignee: TOPCON Corporation   IPC: G01C3/08 Abstract: The invention provides a three-dimensional surveying instrument, which comprises a light emitter for emitting a distance measuring light, a light projecting optical unit for irradiating a distance measuring light from the light emitter along a distance measuring optical axis, a light receiving optical unit for receiving a reflection light from an object to be measured, a photodetection element for converting the reflection light as focused at the light receiving optical unit to an electric signal, a scanning unit for scanning a distance measuring light with respect to the object to be measured provided on a frame unit, angle detecting units for detecting an irradiating direction of the distance measuring light as scanned by the scanning unit, a vibration detecting unit for detecting vibration amount of the frame unit, and a control arithmetic unit having a storage unit where a threshold value is stored, wherein the control arithmetic unit controls so that the number of rotations of the scanning unit is gradually increased from low rotation number to the maximum rotation number, stores in the storage unit by associating the number of rotations with vibration amount as detected, compares vibration amount corresponding to the number of rotations as calculated based on measurement conditions with the threshold value, and performs measurement on the object to be measured in a case where it is judged that vibration amount corresponding to the number of rotations as calculated is lower than the threshold value.
107 US10557703B2
Distance measuring device and method for determining a distance
Publication/Patent Number: US10557703B2 Publication Date: 2020-02-11 Application Number: 15/599,110 Filing Date: 2017-05-18 Inventor: Yates, Chris   Assignee: Rockwell Automation Limited   IPC: G01C3/08 Abstract: A distance measuring device and a method for determining a distance are provided. The method includes: illuminating an object with a sequence of the light pulses, capturing one arriving light pulse corresponding to an intensity Ie,l within a first integration gate, and outputting a signal value U1, capturing another arriving light pulse corresponding to the intensity Ie,l within a second integration gate, and outputting a signal value U2, capturing one arriving light pulse corresponding to an intensity Ie,h within the first integration gate and outputting a signal value U3, capturing the other arriving light pulse corresponding to the intensity Ie,h within the second integration gate and outputting a signal value U4, and calculating the distance between the distance measuring device and the object based on U1, U2, U3, and U4.
108 US10614585B2
Parallax calculation apparatus, stereo camera apparatus, vehicle, and parallax calculation method
Publication/Patent Number: US10614585B2 Publication Date: 2020-04-07 Application Number: 15/746,334 Filing Date: 2016-07-29 Inventor: Ohara, Naoto   Kono, Kenji   Akimoto, Kazumasa   Assignee: KYOCERA Corporation   IPC: G06T7/593 Abstract: A parallax calculation apparatus (12) includes an input interface (15) configured to acquire a stereo image including a first image and a second image and a controller (16) configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction. The controller (16) varies the pitch at which the block is shifted next in accordance with the shift amount of the block from the initial position.
109 US10578431B2
Optical sensor and optical sensor system
Publication/Patent Number: US10578431B2 Publication Date: 2020-03-03 Application Number: 16/101,795 Filing Date: 2018-08-13 Inventor: Hsu, En-feng   Liu, Chia-yu   Assignee: PIXART IMAGING INC.   IPC: G01C3/08 Abstract: An optical sensor includes at least two optical sensing pixels and at least two different grating elements. These grating elements are disposed above these optical sensing pixels correspondingly.
110 US10621858B1
Systems and methods for improving situational awareness of a user
Publication/Patent Number: US10621858B1 Publication Date: 2020-04-14 Application Number: 16/268,617 Filing Date: 2019-02-06 Inventor: Decastro, Jonathan   Permenter, Frank   Kong, Soonho   Gonzalez, Nikos Arechiga   Assignee: Toyota Research Institute, Inc.   IPC: G08G1/095 Abstract: System, methods, and other embodiments described herein relate to improving situational awareness of a user. In one embodiment, a method includes, in response to acquiring, in a personal device, sensor data from a set of sensors that perceive a surrounding environment of the user, identifying from the sensor data one or more objects in the surrounding environment relative to the user. The method includes determining a threat to the user from the one or more objects according to at least trajectories of the one or more objects embodied in the sensor data. The method includes generating, via the personal device, an indicator to inform the user of the one or more objects according to the threat.
111 US10746854B1
Positional tracking using light beams with constant apparent frequencies
Publication/Patent Number: US10746854B1 Publication Date: 2020-08-18 Application Number: 15/853,612 Filing Date: 2017-12-22 Inventor: Moore, David Maurice   Gander, Evan Paul   Tsai, Jason Victor   Zhu, Zhaoming   Newcombe, Richard Andrew   De, Nardi Renzo   Trail, Nicholas Daniel   Assignee: Facebook Technologies, LLC   IPC: G01C3/08 Abstract: Systems described herein use outside-in positional tracking. A base station emits one or more rotational light beams to illuminate a local area. The rotational light beams rotate around a rotation axis and are used for positional tracking of one or more objects in the local area. A beam waist of a source light beam for generating the rotational light beams is positioned to be within a distance range from a center of rotation of the rotational light beams. An apparent frequency of the particular rotational light beam can be constant or substantially constant throughout a local area. Because the apparent frequency of the particular rotational light beam is constant or substantially constant throughout the local area, the frequency response of a detector in response to the illumination by the rotational light beam is within a limited range of values irrespective of the detector's location within the local area.
112 DE102018210342A1
System und Verfahren zum Erkennen einer für einen Andockvorgang eines Fahrzeugs an eine Wechselbrücke geeigneten Messstelle an der Wechselbrücke
Publication/Patent Number: DE102018210342A1 Publication Date: 2020-02-13 Application Number: 102018210342 Filing Date: 2018-06-26 Inventor: JÄger, Thomas   Häfele, Alexander   Abdo, Basem   Assignee: ZF Friedrichshafen AG   IPC: G01S17/42 Abstract: Beschrieben ist ein System (2) und ein Verfahren zum Erkennen einer für einen Andockvorgang eines Fahrzeugs (1) an eine Wechselbrücke (4) geeigneten Messstelle (7) an der Wechselbrücke (4). Das System (2) weist eine Messeinrichtung (8, 9) auf, welche dazu eingerichtet ist, einen Abstand (D) zu einer Messstelle (12) auf der Wechselbrücke (4) zu ermitteln und ein entsprechendes Signal auszugeben. Ferner weist das System eine Einrichtung zum Ändern der Messstelle (12) auf der Wechselbrücke (4) und eine Signalverarbeitungseinrichtung (14) auf, welche dazu eingerichtet ist, um basierend auf dem von der Messeinrichtung (8, 9) ausgegebenen Signal die geeignete Messstelle (7) zu erkennen.
113 US2020307328A1
SYSTEM FOR IDENTIFYING A TRAILER AND FOR ASSISTING A HITCHING PROCESS TO A TRACTOR MACHINE
Publication/Patent Number: US2020307328A1 Publication Date: 2020-10-01 Application Number: 16/639,696 Filing Date: 2018-08-24 Inventor: Köster, Mario Sebastian   Assignee: SAF-HOLLAND GmbH   IPC: B60D1/36 Abstract: A trailer having a kingpin or having a drawbar for coupling a tractor unit on a coupling side of the trailer, wherein the trailer has a detectable pattern on its coupling side, and a tractor unit for coupling to a kingpin or a drawbar of a trailer, wherein the tractor unit has, for the identification of a trailer and/or for assisting a coupling process, in particular on a coupling side of the drawbar, a detection unit for detecting a detectable pattern.
114 US2020120323A1
DATA PROCESSING APPARATUS, IMAGING APPARATUS AND DATA PROCESSING METHOD
Publication/Patent Number: US2020120323A1 Publication Date: 2020-04-16 Application Number: 16/710,498 Filing Date: 2019-12-11 Inventor: Tanaka, Shin   Assignee: CANON KABUSHIKI KAISHA   IPC: H04N13/128 Abstract: Provided is a data processing apparatus for calculating confidence coefficient data to indicate a confidence of pixel values of a second image data. The apparatus acquires similarity between a pixel value of a first pixel of the first image data corresponding to a target pixel of the confidence coefficient data, and each pixel value of a plurality of second pixels around the first pixel. The apparatus acquires the confidence coefficient by determining an estimated pixel value in the third pixel of the second image data corresponding to the first pixel, based on the similarity of each of the plurality of second pixels, each pixel value of the plurality of fourth pixels around the third pixel and the pixel value of the third pixel and by comparing the pixel value of the third image and the estimated pixel value in the third pixel
115 US202003556A1
DISTANCE SENSOR INCLUDING ADJUSTABLE FOCUS IMAGING SENSOR
Publication/Patent Number: US202003556A1 Publication Date: 2020-01-02 Application Number: 20/191,646 Filing Date: 2019-07-02 Inventor: Kimura, Akiteru   Assignee: Magik Eye Inc.   IPC: H04N5/225 Abstract: In one embodiment, a method for calculating a distance to an object includes simultaneously activating a first projection point and a second projection point of a distance sensor to collectively project a reference pattern into a field of view, activating a third projection point of the distance sensor to project a measurement pattern into the field of view, capturing an image of the field of view, wherein the object, the reference pattern, and the measurement pattern are visible in the image, calculating a distance from the distance sensor to the object based on an appearance of the measurement pattern in the image, detecting a movement of a lens of the distance sensor based on an appearance of the reference pattern in the image, and adjusting the distance as calculated based on the movement as detected.
116 US10527705B2
System and method for multi-sensor multi-target 3D fusion using an unbiased measurement space
Publication/Patent Number: US10527705B2 Publication Date: 2020-01-07 Application Number: 16/380,854 Filing Date: 2019-04-10 Inventor: Karlov, Valeri I.   Brody, Julian S.   Hulsmann, John D.   Assignee: Raytheon Company   IPC: G01S3/786 Abstract: System and method for determining a position of a target in an unbiased 3D measurement space: generating 2D measurement data in focal planes of each sensor; calculating a line of sight (LOS) from the target for each sensor; intersecting the LOSs and finding the closest intersection point in a 3D space; calculating a boresight LOS in 3D for each sensor; intersecting the boresight lines of sights for each sensor, and finding the closest intersection point in the 3D space to define an origin for forming the unbiased 3D measurement space; and forming local unbiased 3D estimates of the position of the target in the unbiased 3D measurement space as a difference between a closest point of the target LOS and a closest point of the boresight LOS.
117 US10612937B2
Information processing device and method
Publication/Patent Number: US10612937B2 Publication Date: 2020-04-07 Application Number: 15/440,388 Filing Date: 2017-02-23 Inventor: Takatani, Tsuyoshi   Tasaki, Tsuyoshi   Assignee: Kabushiki Kaisha Toshiba   IPC: G01C22/00 Abstract: According to an embodiment, an information processing device includes an internal sensor, a first derivation unit, a second derivation unit, a reliability calculation unit, a movement amount calculation unit. The internal sensor monitors monitor information including acceleration of a moving object. The first derivation unit derives a first movement amount of the moving object from the monitor information. The second derivation unit derives a second movement amount of the moving object using surrounding information of the moving object monitored by an external sensor. The reliability calculation unit calculates reliability of the second movement amount. The movement amount calculation unit calculates a current movement amount of the moving object using the first movement amount and the second movement amount when the reliability meets a specific criterion, and calculates the first movement amount as the current movement amount when the reliability does not meet the specific criterion.
118 US10571570B1
Lidar system with range-ambiguity mitigation
Publication/Patent Number: US10571570B1 Publication Date: 2020-02-25 Application Number: 16/456,622 Filing Date: 2019-06-28 Inventor: Paulsen, David L.   Sentelle, Christopher Gary   Heylmun, Zachary   Hansen, Matthew   Assignee: Luminar Technologies, Inc.   IPC: G01C3/08 Abstract: In one embodiment, a method includes emitting, by a light source of a lidar system, multiple optical pulses using multiple alternating pulse repetition intervals (PRIs) that include a first PRI and a second PRI, where the first PRI and the second PRI are not equal. The method also includes detecting, by a receiver of the lidar system, multiple input optical pulses and generating, by a processor of the lidar system, multiple pixels. Each pixel of the multiple pixels corresponds to one of the input optical pulses, and each pixel includes a PRI associated with a most recently emitted optical pulse of the multiple optical pulses. The method also includes determining a group of neighboring pixels for a particular pixel of the multiple pixels and determining whether the particular pixel is range-wrapped based at least in part on the PRI associated with each pixel of the group of neighboring pixels.
119 US10559089B2
Information processing apparatus and information processing method
Publication/Patent Number: US10559089B2 Publication Date: 2020-02-11 Application Number: 15/740,639 Filing Date: 2016-08-19 Inventor: Inada, Tetsugo   Okamoto, Hirofumi   Assignee: Sony Interactive Entertainment Inc.   IPC: G06T7/73 Abstract: An image acquisition block of an information processing apparatus acquires stereo images taken by a first camera and a second camera that make up an imaging apparatus. An input information acquisition block accepts a user manipulation. A first positional information acquisition block of a positional information generation block identifies an approximate position of an object to be imaged through predetermined means. A second positional information acquisition block determines an estimated distance range of a target on the basis of the identified approximate position of the object to be imaged, detects corresponding points by executing block matching on stereo images thorough only a search range corresponding to the determined estimated distance range, and obtains a position of the target with high resolution and accuracy. An output information generation block generates output data on the basis of the position of that target and outputs the generated output data.
120 US10684360B2
Protecting detector in a lidar system using off-axis illumination
Publication/Patent Number: US10684360B2 Publication Date: 2020-06-16 Application Number: 15/713,192 Filing Date: 2017-09-22 Inventor: Campbell, Scott R.   Assignee: Luminar Technologies, Inc.   IPC: G01C3/08 Abstract: A lidar system includes a light source configured to emit pulses of light, a scanner configured to direct the pulses of light along a scan direction, and a receiver with a detector configured to detect the pulses of light scattered by remote targets. For a pulse of light emitted by the light source, the receiver is configured to detect the scattered pulse of light returning to the receiver during a ranging time interval between (i) when the pulse of light leaves the lidar system and (ii) when the scattered pulse of light returns from a remote target positioned at a maximum distance RMAX. For at least a portion of the ranging time interval, the lidar system directs the scattered pulse of light toward the active region of the detector at an oblique angle to reduce an amount of light impinging on the active region.