JP2021529959A - 自律制御システム用の知覚システム - Google Patents

自律制御システム用の知覚システム Download PDF

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Publication number
JP2021529959A
JP2021529959A JP2020573488A JP2020573488A JP2021529959A JP 2021529959 A JP2021529959 A JP 2021529959A JP 2020573488 A JP2020573488 A JP 2020573488A JP 2020573488 A JP2020573488 A JP 2020573488A JP 2021529959 A JP2021529959 A JP 2021529959A
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Prior art keywords
light beam
reflected
initial light
environment
rider sensor
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JP2020573488A
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Japanese (ja)
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JP2021529959A5 (https=
JPWO2020005641A5 (https=
Inventor
アルベルト・ストキーノ
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パーセプティブ・インコーポレイテッド
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Priority claimed from US16/298,752 external-priority patent/US10444366B1/en
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Priority claimed from PCT/US2019/037640 external-priority patent/WO2020005641A1/en
Publication of JP2021529959A publication Critical patent/JP2021529959A/ja
Publication of JP2021529959A5 publication Critical patent/JP2021529959A5/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4917—Receivers superposing optical signals in a photodetector, e.g. optical heterodyne detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
JP2020573488A 2018-06-29 2019-06-18 自律制御システム用の知覚システム Pending JP2021529959A (ja)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201862692417P 2018-06-29 2018-06-29
US62/692,417 2018-06-29
US16/298,752 US10444366B1 (en) 2018-06-29 2019-03-11 Perception systems for use in autonomously controlling systems
US16/298,752 2019-03-11
US201962850933P 2019-05-21 2019-05-21
US62/850,933 2019-05-21
US16/427,215 US20200003900A1 (en) 2018-06-29 2019-05-30 Systems and methods for measuring characteristics of an object at distance
US16/427,215 2019-05-30
PCT/US2019/037640 WO2020005641A1 (en) 2018-06-29 2019-06-18 Perception systems for use in autonomously controlling systems

Publications (3)

Publication Number Publication Date
JP2021529959A true JP2021529959A (ja) 2021-11-04
JP2021529959A5 JP2021529959A5 (https=) 2022-06-27
JPWO2020005641A5 JPWO2020005641A5 (https=) 2022-06-27

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JP2020573488A Pending JP2021529959A (ja) 2018-06-29 2019-06-18 自律制御システム用の知覚システム

Country Status (4)

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US (1) US20200003900A1 (https=)
EP (1) EP3814802A1 (https=)
JP (1) JP2021529959A (https=)
CN (1) CN112534304A (https=)

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EP3811113A1 (en) * 2018-06-22 2021-04-28 Ams Ag Using time-of-flight and pseudo-random bit sequences to measure distance to object
US10921450B2 (en) * 2019-04-24 2021-02-16 Aeye, Inc. Ladar system and method with frequency domain shuttering
US11002837B2 (en) * 2019-07-15 2021-05-11 Blackmore Sensors & Analytics, LLC. Method and system for sidelobe suppression in phase encoded doppler LIDAR
US10838061B1 (en) * 2019-07-16 2020-11-17 Blackmore Sensors & Analytics, LLC. Method and system for enhanced velocity resolution and signal to noise ratio in optical phase-encoded range detection
US11899116B2 (en) * 2019-10-24 2024-02-13 Nuro, Inc. Single beam digitally modulated lidar for autonomous vehicle distance sensing
US11675069B2 (en) * 2020-10-08 2023-06-13 Oewaves, Inc. Dual Lidar and radar photonic instrument
US12481031B2 (en) 2021-03-10 2025-11-25 Luminar Technologies, Inc. Hybrid pulsed/coherent lidar system with spectral signatures
WO2023272359A1 (en) * 2021-06-30 2023-01-05 Vai Photonics Pty Ltd A lidar apparatus and process
CN113776520B (zh) * 2021-09-28 2024-05-17 上海擎朗智能科技有限公司 地图构建、使用方法、装置、机器人和介质
US20230221139A1 (en) * 2022-01-12 2023-07-13 Woven Alpha, Inc. Roadmap generation system and method of using
CN115877361B (zh) * 2023-01-29 2023-05-12 深圳煜炜光学科技有限公司 一种具有表面污物快速检测的激光雷达及其实现方法
US20240345128A1 (en) * 2023-04-13 2024-10-17 Rosemount Aerospace, Inc. Aom frequency shifter test fixture
WO2025207543A1 (en) * 2024-03-26 2025-10-02 The Regents Of The University Of California Photonic lantern spectrometer
TWI908317B (zh) * 2024-09-06 2025-12-11 台達電子工業股份有限公司 轉速量測裝置及方法

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Publication number Priority date Publication date Assignee Title
US6580497B1 (en) * 1999-05-28 2003-06-17 Mitsubishi Denki Kabushiki Kaisha Coherent laser radar apparatus and radar/optical communication system
JP2008275382A (ja) * 2007-04-26 2008-11-13 Mitsubishi Electric Corp Ｆｍ−ｃｗ偏波レーダ装置
JP2010127840A (ja) * 2008-11-28 2010-06-10 Mitsubishi Electric Corp 光波レーダ装置
EP2626722A1 (de) * 2012-02-07 2013-08-14 Sick AG Optoelektronischer Sensor und Verfahren zur Erfassung und Abstandsbestimmung von Objekten
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Publication number Publication date
CN112534304A (zh) 2021-03-19
EP3814802A1 (en) 2021-05-05
US20200003900A1 (en) 2020-01-02

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