Gm Cruise Holdings LLC

Asml Netherlands B.v.

Yongjun Wang

Daniel Chou

Long Ma

Jun Jiang

Nigel Rodrigues

Chih-Yu Jen

Marco Antonio Gaxiola Michel

Ankit Rohatgi

Derek Wu

Apparatus and methods are provided for using a self-illuminating harp to calibrate for distortion. In particular, apparatus, methods and systems are provided for imaging and analyzing self-illuminated harp in order to correct for lens distortion. In various implementations, an array of media is strung plumb which resembles a harp. The media can be light fibers or other suitable material which can be strung in a straight line. The cores of translucent fibers are illuminated. These are configured to scatter light throughout their bulk which escapes the core by egressing along the length of fiber. This light produces plumb lines which can be imaged, analyzed and model. In some implementations, imaging is performed by rotation to include a full FOV.

Self-illuminating distortion harp

The present technology is directed to determining an accuracy of an infrared (IR) camera, and more particularly, validating a distortion accuracy of an IR camera. The present technology can receive one or more images of a calibration harp captured by the IR camera, wherein the one or more images include a plurality of lines corresponding to a plurality of strings of the calibration harp. The present technology can further determine a degree of distortion of the plurality of lines based on a distortion error coefficient, wherein the distortion error coefficient is computed based on edge points of the plurality of lines on the one or more images.

Validation of infrared (IR) camera distortion accuracy

A polyhedral sensor target includes multiple surfaces. A housing, such as a vehicle, may include a camera and a distance measurement sensor, such as a light detection and ranging (LIDAR) sensor. The housing may move between different positions during calibration, for instance by being rotated atop a turntable. The camera and distance measurement sensor may both capture data during calibration, from which visual and distance measurement representations of the polyhedral sensor target are identified. The camera and distance measurement sensor are calibrated based on their respective representations, for example by mapping vertices within the representations to the same location.

Polyhedral sensor calibration target for calibrating multiple types of sensors

An improved charged particle beam inspection apparatus, and more particularly, a particle beam inspection apparatus for detecting a thin device structure defect is disclosed. An improved charged particle beam inspection apparatus may include a charged particle beam source to direct charged particles to a location of a wafer under inspection over a time sequence. The improved charged particle beam apparatus may further include a controller configured to sample multiple images of the area of the wafer at difference times over the time sequence. The multiple images may be compared to detect a voltage contrast difference or changes to identify a thin device structure defect.

Time-dependent defect inspection apparatus

A computer-implemented method for focal length validation may include receiving, by a computing system, initial image data for an optical target from a camera. The method may also include determining a distortion parameter associated with the camera, based on the initial image data. The method may also include receiving, by the computing system, a first image of the optical target, wherein the first image is associated with a first position of the camera. The method may also include receiving, by the computing system, a second image of the optical target, wherein the second image is associated with a second position of the camera. The method may also include determining an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image. The method may further include determining a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.

Focal length validation using three-dimensional pose estimates

A sensor calibration target includes dark markings on a light substrate. The dark markings absorb more heat from a heat source than the light substrate, and are visually distinguishable from the light substrate. Thus, the dark markings are discernable by the both a camera and an infrared sensor of a vehicle during vehicle sensor calibration. The sensor calibration target may otherwise non-metallic but include a metallic feature for calibrating a radio detection and ranging (RADAR) sensor. The sensor calibration target may also include one or more apertures in the substrate for calibrating a light detection and ranging (LIDAR) sensor.

Growing community of inventors

Pleasanton, CA, United States of America

Yongjun Wang