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公开(公告)号：US20210090299A1
公开(公告)日：2021-03-25
申请号：US17112023
申请日：2020-12-04
申请人： WAYMO LLC
发明人： Vlad Cardei , Carl Warren Craddock
IPC分类号： G06T7/90
摘要： The technology relates to determining whether a camera is occluded. For instance, an image may be captured using a camera having red, green, and blue pixels each including a photosensor. Output values for the photosensors of each of the red pixels, green pixels, and blue pixels may be determined for the images. The output values of the green pixels may be compared to one or more of the output values of the red pixels or the output values of the blue pixels. That the camera is occluded is determined based on the comparison.
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公开(公告)号：US12014524B2
公开(公告)日：2024-06-18
申请号：US18140225
申请日：2023-04-27
申请人： WAYMO LLC
发明人： Vlad Cardei , Carl Warren Craddock
CPC分类号： G06T7/90 , G06V10/25 , G06V20/56 , G05D1/0231 , G06T2207/10024
摘要： The technology relates to determining whether a camera is occluded. For instance, an image may be captured using a camera having red, green, and blue pixels each including a photosensor. Output values for the photosensors of each of the red pixels, green pixels, and blue pixels may be determined for the images. The output values of the green pixels may be compared to one or more of the output values of the red pixels or the output values of the blue pixels. That the camera is occluded is determined based on the comparison.
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公开(公告)号：US11962924B2
公开(公告)日：2024-04-16
申请号：US17655411
申请日：2022-03-18
申请人： Waymo LLC
发明人： Lucian Ion , Nirav Dharia , Vlad Cardei
IPC分类号： H04N25/71 , H04N25/713
CPC分类号： H04N25/713
摘要： An apparatus includes an image sensor having a plurality of pixels that form regions of interest (ROIs), analog-to-digital converter (ADC) banks, and multiplexers. Each respective multiplexer is electrically connected to (i) a corresponding ADC bank and (ii) a corresponding subset of the ROIs. The apparatus also includes control circuitry configured to obtain a full-resolution image of an environment by electrically connecting, by way of the multiplexers, each respective ADC bank to the associated respective ROI. The control circuitry is also configured to select a particular ROI based on the full-resolution image and obtain a plurality of ROI images of the particular ROI by (i) electrically connecting, to the particular ROI, a first ADC bank associated with the particular ROI and a second ADC bank associated with another ROI and (ii) digitizing pixels of the particular ROI by way of parallel operation of the first and second ADC banks.
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公开(公告)号：US11700459B2
公开(公告)日：2023-07-11
申请号：US17651325
申请日：2022-02-16
申请人： Waymo LLC
发明人： Vlad Cardei , Lucian Ion , Nirav Dharia
IPC分类号： H04N25/443 , G06F9/50 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133 , H04N25/13
CPC分类号： H04N25/443 , G06F9/5038 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133 , H04N25/134
摘要： A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.
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公开(公告)号：US11670005B2
公开(公告)日：2023-06-06
申请号：US17112023
申请日：2020-12-04
申请人： WAYMO LLC
发明人： Vlad Cardei , Carl Warren Craddock
CPC分类号： G06T7/90 , G06V10/25 , G06V20/56 , G05D1/0231 , G06T2207/10024
摘要： The technology relates to determining whether a camera is occluded. For instance, an image may be captured using a camera having red, green, and blue pixels each including a photosensor. Output values for the photosensors of each of the red pixels, green pixels, and blue pixels may be determined for the images. The output values of the green pixels may be compared to one or more of the output values of the red pixels or the output values of the blue pixels. That the camera is occluded is determined based on the comparison.
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公开(公告)号：US20210278257A1
公开(公告)日：2021-09-09
申请号：US16808314
申请日：2020-03-03
申请人： Waymo LLC
发明人： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
摘要： A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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公开(公告)号：US20210152759A1
公开(公告)日：2021-05-20
申请号：US16689936
申请日：2019-11-20
申请人： Waymo LLC
发明人： Nirav Dharia , Vlad Cardei
摘要： An example method includes using a plurality of switches corresponding to a plurality of capacitors to select a first set of capacitors for charging at a first time. Charging the first set of capacitors corresponds to sampling from a first set of adjacent light detectors. The method includes using the plurality of switches to select a second set of capacitors from the plurality of capacitors for discharging at a second time. The method includes using a sampling switch to sample an output of the second set of capacitors as they discharge. The output of the second set of capacitors corresponds to the first set of adjacent light detectors. The method includes determining, based on sampling the output of the second set of capacitors, a collective intensity of light received by the first set of adjacent light detectors.
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公开(公告)号：US20240175728A1
公开(公告)日：2024-05-30
申请号：US18431467
申请日：2024-02-02
申请人： Waymo LLC
发明人： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
CPC分类号： G01D5/35383 , G01S13/89 , H04N5/33 , G01S7/4004
摘要： A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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公开(公告)号：US11933647B2
公开(公告)日：2024-03-19
申请号：US17872244
申请日：2022-07-25
申请人： Waymo LLC
发明人： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
CPC分类号： G01D5/35383 , G01S13/89 , H04N5/33 , G01S7/4004
摘要： A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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公开(公告)号：US11428550B2
公开(公告)日：2022-08-30
申请号：US16808314
申请日：2020-03-03
申请人： Waymo LLC
发明人： Nirav Dharia , Giulia Guidi , Ralph Shepard , Vlad Cardei , Lucian Ion
摘要： A system may include a first sensor of a first type and a second sensor of a second different type and having a detector. A field of view of the second sensor may be formed by a plurality of regions of interest (ROIs) defined by the detector. Control circuitry of the system may be configured to perform operations including obtaining, from the first sensor, first sensor data representing an environment, and determining, based on the first sensor data, information associated with a feature of interest within the environment. The operations may also include determining, based on the information, a particular ROI that corresponds to an expected position of the feature at a later time, obtaining a plurality of ROI sensor data from the particular ROI instead of obtaining full-resolution sensor data, and analyzing the plurality of ROI sensor data to determine one or more attributes of the feature.
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