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公开(公告)号：US20220191404A1
公开(公告)日：2022-06-16
申请号：US17581287
申请日：2022-01-21
Applicant: Waymo LLC
Inventor： Matthew Rinehart , Vlad Cardei
Abstract: 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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Patent Agency Ranking
公开(公告)号：US11310451B1
公开(公告)日：2022-04-19
申请号：US16808268
申请日：2020-03-03
Applicant: Waymo LLC
Inventor： Lucian Ion , Nirav Dharia , Vlad Cardei
IPC: H04N5/372
Abstract: 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：US11284021B1
公开(公告)日：2022-03-22
申请号：US16730760
申请日：2019-12-30
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion , Nirav Dharia
Abstract: 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：US11269066B2
公开(公告)日：2022-03-08
申请号：US16386782
申请日：2019-04-17
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion
IPC: G01S7/497 , G01S17/10 , G01S17/931 , G05D1/02
Abstract: 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：US11082643B2
公开(公告)日：2021-08-03
申请号：US16689936
申请日：2019-11-20
Applicant: Waymo LLC
Inventor： Nirav Dharia , Vlad Cardei
Abstract: 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：US20200333447A1
公开(公告)日：2020-10-22
申请号：US16386782
申请日：2019-04-17
Applicant: Waymo LLC
Inventor： Vlad Cardei , Lucian Ion
Abstract: 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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