Systems and methods for infrared sensing

Patent metadata

Field	Value
Publication number	US-12055442-B2
Application number	US-201917754930-A
Country	US
Kind code	B2
Filing date	Oct 16, 2019
Priority date	Oct 16, 2019
Publication date	Aug 6, 2024
Grant date	Aug 6, 2024

Abstract

The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

First claim

What is claimed is:

1. A system comprising:
at least one infrared detector, wherein the at least one infrared detector is configured to detect infrared light corresponding to a target object within a field of view, wherein the field of view comprises an environment of the system, wherein the infrared light comprises at least one of a first polarization or a second polarization; and
a controller comprising at least one processor and at least one memory, wherein the at least one processor executes instructions stored in the at least one memory so as to carry out operations, the operations comprising:
receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object;
determining, based on the received information, a polarization ratio corresponding to the target object; and
determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

2. The system of claim 1 , wherein determining the polarization ratio comprises dividing a first polarization intensity by a second polarization intensity, wherein the first polarization intensity comprises an intensity of the infrared light having the first polarization, and wherein the second polarization intensity comprises an intensity of the infrared light having the second polarization.

3. The system of claim 2 , wherein the first polarization and the second polarization are different linear light polarizations.

4. The system of claim 2 , wherein the first polarization and the second polarization are perpendicular linear light polarizations.

5. The system of claim 1 , wherein the at least one infrared detector comprises at least one micro-electromechanical system (MEMS) infrared detector.

6. The system of claim 1 , wherein the at least one infrared detector comprises:
a first infrared detector configured to detect infrared light having a first linear polarization; and
a second infrared detector configured to detect infrared light having a second linear polarization, wherein the first linear polarization and the second linear polarization are perpendicular with respect to one another.

7. The system of claim 1 , wherein determining that the infrared light comprises direct light or reflected light comprises at least one of:
determining that the infrared light comprises direct light if the polarization ratio is within a direct light polarization range; or
determining that the infrared light comprises reflected light if the polarization ratio is within a reflected light polarization range.

8. The system of claim 7 , wherein the direct light polarization range is 0.4 to 0.6, and wherein the reflected light polarization range is 0 to 0.4 and 0.6 to 1.

9. The system of claim 1 , wherein the operations further comprise:
determining, based on the received information, a target object type, wherein the target object type comprises at least one of: an obstacle, a pedestrian, a vehicle, a roadway, a sign, or a traffic light.

10. The system of claim 1 , wherein the operations further comprise:
determining, based on the received information and the polarization ratio, a target object location.

11. The system of claim 10 , wherein the operations further comprise:
receiving at least one of: LIDAR data, radar data, or camera data indicative of a reflective surface, wherein determining the target object location is further based on a location of the reflective surface.

12. The system of claim 11 , wherein determining that the infrared light corresponding to the target object comprises reflected light is further based on the LIDAR data, radar data, or camera data indicative of the reflective surface.

13. A vehicle comprising:
at least one infrared detector, wherein the at least one infrared detector is configured to detect infrared light corresponding to a target object within a field of view, wherein the field of view comprises an environment of the vehicle, wherein the infrared light comprises at least one of a first polarization or a second polarization; and
a controller comprising at least one processor and at least one memory, wherein the at least one processor executes instructions stored in the at least one memory so as to carry out operations, the operations comprising:
receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object;
determining, based on the received information, a polarization ratio corresponding to the target object; and
determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

14. The vehicle of claim 13 , wherein determining the polarization ratio comprises dividing a first polarization intensity by a second polarization intensity.

15. A method comprising
receiving, from at least one infrared detector, information indicative of infrared light corresponding to a target object, wherein the infrared light comprises at least one of a first polarization or a second polarization;
determining, based on the received information, a polarization ratio corresponding to the target object; and
determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.

16. The method of claim 15 , wherein determining the polarization ratio comprises dividing a first polarization intensity by a second polarization intensity, wherein the first polarization intensity comprises an intensity of the infrared light having the first polarization, and wherein the second polarization intensity comprises an intensity of the infrared light having the second polarization, wherein the first polarization and the second polarization are different linear light polarizations.

17. The method of claim 15 , wherein determining that the infrared light comprises direct light or reflected light comprises at least one of:
determining that the infrared light comprises direct light if the polarization ratio is within a direct light polarization range; or
determining that the infrared light comprises reflected light if the polarization ratio is within a reflected light polarization range.

18. The method of claim 17 , wherein the direct light polarization range is 0.4 to 0.6, and wherein the reflected light polarization range is 0 to 0.4 and 0.6 to 1.

19. The method of claim 15 , further comprising:
determining, based on the received information, a target object type, wherein the target object type comprises at least one of: an obstacle, a pedestrian, a vehicle, a roadway, a sign, or a traffic light.

20. The method of claim 15 , further comprising:
receiving at least one of: LIDAR data, radar data, or camera data indicative of a location of a reflective surface; and
determining a target object location based on the received information, the polarization ratio, and the location of the reflective surface.

Assignees

• Waymo Llc

Inventors

• Frevert Benjamin
• Morriss Zachary

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G01J5/0025

  Living bodies (ear thermometers G01J5/0011; detecting, measuring or recording for diagnostic purposes A61B5/00) · CPC title

• G01J4/02

  Polarimeters of separated-field type; Polarimeters of half-shadow type · CPC title

• G01J4/00

  Measuring polarisation of light · CPC title

• G01J2005/0077

  Imaging · CPC title