US 12,262,127 B2
Perceiving scene features using event sensors and image sensors
Gerard Dirk Smits, Los Gatos, CA (US); and Steven Dean Gottke, Concord, CA (US)
Assigned to Summer Robotics, Inc., Campbell, CA (US)
Filed by Summer Robotics, Inc., Campbell, CA (US)
Filed on Mar. 27, 2024, as Appl. No. 18/618,909.
Application 18/618,909 is a continuation of application No. 18/488,123, filed on Oct. 17, 2023, granted, now 11,974,055.
Claims priority of provisional application 63/379,772, filed on Oct. 17, 2022.
Prior Publication US 2025/0056133 A1, Feb. 13, 2025
Int. Cl. H04N 25/47 (2023.01); G06T 7/246 (2017.01)
CPC H04N 25/47 (2023.01) [G06T 7/246 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A method for sensing objects using one or more processors to execute instructions that are configured to cause actions, comprising:
capturing one or more images of a scene with one or more frame cameras, wherein the one or more images include a plurality of reflections of one or more beams that are scanned along a plurality of paths across one or more objects in the scene;
detecting, individually, each of the plurality of beam reflections from the one or more objects with one or more event cameras, wherein the plurality of detected individual beam reflections are used to generate a plurality of events;
determining a plurality of trajectories based on the plurality of paths and the plurality of events, wherein each trajectory is parametrically represented as a one-dimensional curve segment in a three-dimensional space;
determining one or more centroids based on a distribution of signal energy intensity in the one or more images, the one or more trajectories, and the one or more events; and
employing the one or more centroids to generate one or more enhanced trajectories that are used to execute one or more actions based on the one or more objects.