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公开(公告)号：US12078760B2
公开(公告)日：2024-09-03
申请号：US17585825
申请日：2022-01-27
申请人： Waymo LLC
发明人： Vlad Cardei , Lucian Ion
IPC分类号： G01S7/497 , G01S17/10 , G01S17/931 , G05D1/00
CPC分类号： G01S7/497 , G01S17/10 , G01S17/931 , G05D1/0231 , G05D1/0257 , G05D1/027 , G05D1/0278
摘要： Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.
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公开(公告)号：US11665435B2
公开(公告)日：2023-05-30
申请号：US17581287
申请日：2022-01-21
申请人： Waymo LLC
发明人： Matthew Rinehart , Vlad Cardei
摘要： An example method includes capturing, by an image capture device, a first image having a plurality of pixels. Each pixel includes a plurality of channels, and the first image is captured in accordance with first exposure parameters. The method includes determining, by a controller of the image capture device, average pixel intensities for each of the plurality of channels. The method includes determining, by the controller, a weighted average of pixel intensities using the average pixel intensities. The method includes setting, by the controller, a gain that is proportional to a ratio of a desired average pixel intensity relative to the weighted average of pixel intensities. The method includes setting, by the controller, second exposure parameters for a second image based on the gain. The method includes capturing, by the image capture device, the second image in accordance with the second exposure parameters.
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公开(公告)号：US20220174229A1
公开(公告)日：2022-06-02
申请号：US17651325
申请日：2022-02-16
申请人： Waymo LLC
发明人： Vlad Cardei , Lucian Ion , Nirav Dharia
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：US20230300477A1
公开(公告)日：2023-09-21
申请号：US18323093
申请日：2023-05-24
申请人： Waymo LLC
发明人： Vlad Cardei , Lucian Ion , Nirav Dharia
CPC分类号： H04N25/443 , G06F9/5038 , G06V10/22 , H04N23/61 , H04N23/80 , H04N25/79 , H04N25/133
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：US11678076B1
公开(公告)日：2023-06-13
申请号：US17349377
申请日：2021-06-16
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：US20220357186A1
公开(公告)日：2022-11-10
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
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：US20220210363A1
公开(公告)日：2022-06-30
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： H04N5/372
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：US12052519B2
公开(公告)日：2024-07-30
申请号：US18323093
申请日：2023-05-24
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 , H04N25/13 , H04N25/133
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：US20220146652A1
公开(公告)日：2022-05-12
申请号：US17585825
申请日：2022-01-27
申请人： Waymo LLC
发明人： Vlad Cardei , Lucian Ion
IPC分类号： G01S7/497 , G01S17/10 , G01S17/931
摘要： Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.
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公开(公告)号：US11265484B1
公开(公告)日：2022-03-01
申请号：US17124205
申请日：2020-12-16
申请人： Waymo LLC
发明人： Matthew Rinehart , Vlad Cardei
摘要： An example method includes capturing, by an image capture device, a first image having a plurality of pixels. Each pixel includes a plurality of channels, and the first image is captured in accordance with first exposure parameters. The method includes determining, by a controller of the image capture device, average pixel intensities for each of the plurality of channels. The method includes determining, by the controller, a weighted average of pixel intensities using the average pixel intensities. The method includes setting, by the controller, a gain that is proportional to a ratio of a desired average pixel intensity relative to the weighted average of pixel intensities. The method includes setting, by the controller, second exposure parameters for a second image based on the gain. The method includes capturing, by the image capture device, the second image in accordance with the second exposure parameters.
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