公开(公告)号：US20230171503A1

公开(公告)日：2023-06-01

申请号：US17456861

申请日：2021-11-29

Applicant: Waymo LLC

Inventor： Colin Braley ,  Chase Salsbury ,  Po-Chao Huang

IPC: H04N5/235 ,  H04N7/18 ,  G01S7/497 ,  G01S17/931 ,  G01S17/89 ,  G01S17/86

CPC classification number: H04N5/2353 ,  H04N7/18 ,  H04N5/2351 ,  G01S7/497 ,  G01S17/931 ,  G01S17/89 ,  G01S17/86 ,  G01S2007/4975

Abstract: Example embodiments relate to taking images at certain predetermined angles in order to have consistent exposure throughout the images. An example embodiment includes a method. The method includes determining, using a lidar device, light intensity information of a surrounding environment of the lidar device. The light intensity information includes a plurality of angles within a threshold range of light exposure. The method also includes determining rotation times associated with each of the angles within the threshold range of light exposure. Further, the method includes based on the rotation times associated with each of the angles within the threshold range of light exposure, determining a plurality of target image times. In addition, the method includes capturing, by a camera system, a plurality of images at the plurality of target image times.

公开(公告)号：US20230152429A1

公开(公告)日：2023-05-18

申请号：US17454885

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Colin Braley ,  Po-Chao Huang ,  Chase Salsbury ,  Hanna Revinskaya

IPC: G01S7/4863 ,  H04N5/235 ,  H04N5/225 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S7/4863 ,  H04N5/2353 ,  H04N5/2258 ,  G01S17/89 ,  G01S17/931

Abstract: An example method includes receiving, from a light detector, information indicative of a light intensity of a field of view of an optical system. The optical system includes one or more optical components and a light detector configured to receive light from a field of view of an environment of the optical system by way of the one or more optical components. The optical system also includes an occlusion-detection camera configured to capture images of the one or more optical components. The example method also includes adjusting, based on the received information, at least one operating parameter of the occlusion-detection camera. The example method also includes causing the occlusion-detection camera to capture at least one image of the one or more optical components according to the at least one adjusted operating parameter.