公开(公告)号：US11670005B2

公开(公告)日：2023-06-06

申请号：US17112023

申请日：2020-12-04

Applicant: WAYMO LLC

Inventor： Vlad Cardei ,  Carl Warren Craddock

IPC: G06K9/00 ,  G06T7/90 ,  G06V10/25 ,  G06V20/56 ,  G05D1/02

CPC classification number: G06T7/90 ,  G06V10/25 ,  G06V20/56 ,  G05D1/0231 ,  G06T2207/10024

Abstract: 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：US11227409B1

公开(公告)日：2022-01-18

申请号：US16105084

申请日：2018-08-20

Applicant: Waymo LLC

Inventor： Chen Wu ,  Carl Warren Craddock ,  Andreas Wendel

IPC: G06T7/80 ,  G06K9/00 ,  G06K9/62 ,  G01S17/86 ,  G01S17/931

Abstract: 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：US20200055516A1

公开(公告)日：2020-02-20

申请号：US16105069

申请日：2018-08-20

Applicant: Waymo LLC

Inventor： Carl Warren Craddock ,  Andreas Wendel

IPC: B60W30/09 ,  H04N17/00 ,  H04N5/247 ,  G06K9/62 ,  G06T3/40 ,  G05D1/00

Abstract: 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：US11972342B2

公开(公告)日：2024-04-30

申请号：US17346738

申请日：2021-06-14

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC: H01L27/146 ,  G06N3/02 ,  G06N3/04 ,  G06N3/063 ,  G06N3/067 ,  G06N3/08 ,  G06V10/25 ,  G06V10/764 ,  G06V10/82 ,  H04N5/232 ,  H04N5/341 ,  H04N23/80 ,  H04N25/40

CPC classification number: G06N3/063 ,  G06N3/02 ,  G06N3/04 ,  G06N3/067 ,  G06N3/0675 ,  G06N3/08 ,  G06V10/25 ,  G06V10/764 ,  G06V10/82 ,  H01L27/14605 ,  H01L27/14609 ,  H01L27/14634 ,  H04N23/80 ,  H04N25/40 ,  H01L2224/73261

Abstract: 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：US20210090299A1

公开(公告)日：2021-03-25

申请号：US17112023

申请日：2020-12-04

Applicant: WAYMO LLC

Inventor： Vlad Cardei ,  Carl Warren Craddock

IPC: G06T7/90

Abstract: 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：US20200321374A1

公开(公告)日：2020-10-08

申请号：US16376634

申请日：2019-04-05

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC: H01L27/146 ,  G06N3/08 ,  H04N5/341 ,  H04N5/232 ,  G06K9/32

Abstract: 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.