公开(公告)号：US20240320810A1

公开(公告)日：2024-09-26

申请号：US18678388

申请日：2024-05-30

申请人： Waymo LLC

发明人： Xiaoying He ,  Ryan Geiss ,  Pieter Kapsenberg ,  Carl Warren Craddock ,  Zhinan Xu ,  Lucian Ion ,  Ajay Chandra Venkata Gummalla

IPC分类号： G06T5/92 ,  G06T3/4007 ,  G06T5/94

CPC分类号： G06T5/92 ,  G06T3/4007 ,  G06T5/94 ,  G06T2207/20084 ,  G06T2207/20208 ,  G06T2207/30252

摘要： A system is provided that includes an image sensor coupled to a vehicle, and control circuitry configured to perform operations including receiving, from the image sensor, an input stream comprising high dynamic range (HDR) image data associated with an environment of the vehicle, and processing the input stream at the vehicle by applying a global tone mapping, followed by offline image processing that can include applying a local tone mapping to the globally tone mapped images of the same input stream.

公开(公告)号：US12056898B1

公开(公告)日：2024-08-06

申请号：US17548633

申请日：2021-12-13

申请人： Waymo LLC

发明人： Chen Wu ,  Carl Warren Craddock ,  Andreas Wendel

IPC分类号： G06T7/80 ,  G01S17/86 ,  G01S17/931 ,  G06F18/25 ,  G06V20/58

CPC分类号： G06T7/80 ,  G01S17/86 ,  G01S17/931 ,  G06F18/25 ,  G06V20/584

摘要： The disclosure relates to assessing operation of a camera. In one instance, a volume of space corresponding to a first vehicle in an environment of a second vehicle may be identified using sensor data generated by a LIDAR system of the second vehicle. An image captured by a camera of the second vehicle may be identified. The camera may have an overlapping field of view of the LIDAR system at a time when the sensor data was generated. An area of the image corresponding to the volume of space may be identified and processed in order to identify a vehicle light. The operation of the camera may be assessed based on the processing.

公开(公告)号：US11699207B2

公开(公告)日：2023-07-11

申请号：US16105069

申请日：2018-08-20

申请人： Waymo LLC

发明人： Carl Warren Craddock ,  Andreas Wendel

IPC分类号： G06T3/40 ,  G05D1/00 ,  G06F18/22 ,  H04N23/90 ,  G06V20/56 ,  G06T1/00 ,  B60W30/09 ,  H04N17/00 ,  G06V10/98

CPC分类号： G06T1/0007 ,  B60W30/09 ,  G05D1/0088 ,  G06F18/22 ,  G06T3/40 ,  G06V10/98 ,  G06V20/56 ,  H04N17/002 ,  H04N23/90 ,  B60W2420/42 ,  G06T2210/22

摘要： The disclosure relates to assessing operation of two or more cameras. These cameras may be a group of cameras of a perception system of a vehicle having an autonomous driving mode. A first image captured by a first camera and a second image captured by a second camera may be received. A first feature vector for the first image and a second feature vector for the second image may be generated. A similarity score may be determined using the first feature vector and the second feature vector. This similarity score may be used to assess the operation of the two cameras and an appropriate action may be taken.

公开(公告)号：US20210305295A1

公开(公告)日：2021-09-30

申请号：US17346738

申请日：2021-06-14

申请人： Waymo LLC

发明人： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC分类号： H01L27/146 ,  G06N3/08 ,  G06K9/32 ,  H04N5/232 ,  H04N5/341 ,  G06N3/067 ,  G06N3/02 ,  G06N3/04

摘要： A image sensor includes a first integrated circuit layer including pixel sensors that are grouped based on position into pixel sensor groups, a second integrated circuit layer in electrical communication with the first integrated circuit layer, the second integrated circuit layer including image processing circuitry groups that are configured to each receive pixel information from a corresponding pixel sensor group, the image processing circuitry groups further configured to perform image processing operations on the pixel information to provide processed pixel information during operation of the image sensor, a third integrated circuit layer in electrical communication with the second integrated circuit layer, and the third integrated circuit layer including neural network circuitry groups that are configured to each receive the processed pixel information from a corresponding image processing circuitry group and perform analysis for object detection on the processed pixel information during operation of the image sensor.

公开(公告)号：US11037968B2

公开(公告)日：2021-06-15

申请号：US16376634

申请日：2019-04-05

申请人： Waymo LLC

发明人： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC分类号： H01L27/146 ,  G06N3/08 ,  G06K9/32 ,  H04N5/232 ,  H04N5/341 ,  G06N3/067 ,  G06N3/02 ,  G06N3/04

摘要： A image sensor includes a first integrated circuit layer including pixel sensors that are grouped based on position into pixel sensor groups, a second integrated circuit layer in electrical communication with the first integrated circuit layer, the second integrated circuit layer including image processing circuitry groups that are configured to each receive pixel information from a corresponding pixel sensor group, the image processing circuitry groups further configured to perform image processing operations on the pixel information to provide processed pixel information during operation of the image sensor, a third integrated circuit layer in electrical communication with the second integrated circuit layer, and the third integrated circuit layer including neural network circuitry groups that are configured to each receive the processed pixel information from a corresponding image processing circuitry group and perform analysis for object detection on the processed pixel information during operation of the image sensor.

公开(公告)号：US10891757B2

公开(公告)日：2021-01-12

申请号：US16193865

申请日：2018-11-16

申请人： Waymo LLC

发明人： Vlad Constantin Cardei ,  Carl Warren Craddock

IPC分类号： G06K9/00 ,  G06T7/90 ,  G05D1/02

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.

公开(公告)号：US20200160562A1

公开(公告)日：2020-05-21

申请号：US16193865

申请日：2018-11-16

申请人： Waymo LLC

发明人： Vlad Constantin 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.

公开(公告)号：US12020412B1

公开(公告)日：2024-06-25

申请号：US17644432

申请日：2021-12-15

申请人： Waymo LLC

发明人： Xiaoying He ,  Ryan Geiss ,  Pieter Kapsenberg ,  Carl Warren Craddock ,  Zhinan Xu ,  Lucian Ion ,  Ajay Chandra Venkata Gummalla

IPC分类号： G06K9/00 ,  G06T3/4007 ,  G06T5/92 ,  G06T5/94

CPC分类号： G06T5/92 ,  G06T3/4007 ,  G06T5/94 ,  G06T2207/20084 ,  G06T2207/20208 ,  G06T2207/30252

摘要： A system is provided that includes an image sensor coupled to a vehicle, and control circuitry configured to perform operations including receiving, from the image sensor, an input stream comprising high dynamic range (HDR) image data associated with an environment of the vehicle, and processing the input stream at the vehicle by applying a global tone mapping, followed by offline image processing that can include applying a local tone mapping to the globally tone mapped images of the same input stream.

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

IPC分类号： G06K9/00 ,  G06T7/90 ,  G06V10/25 ,  G06V20/56 ,  G05D1/00

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.

公开(公告)号：US11776163B1

公开(公告)日：2023-10-03

申请号：US17138247

申请日：2020-12-30

申请人： Waymo LLC

发明人： Vlad Constantin Cardei ,  Carl Warren Craddock

IPC分类号： G06T7/90 ,  G06F17/16 ,  G06T11/00

CPC分类号： G06T7/90 ,  G06F17/16 ,  G06T11/001

摘要： Systems, apparatus, and methods are presented for rendering color images. One method may include receiving first color values of a first image from a first image capture device. The first color values may represent colors in a first color space. The method also may include applying first color transformation information to the first color values to generate first transformed color values of the first image in a particular color space and applying desaturation information to the first transformed color values to generate first desaturated color values of the first image. Further, the method may include providing the first desaturated color values of the first image for rendering on a display device.