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公开(公告)号：US12250447B2
公开(公告)日：2025-03-11
申请号：US18413521
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N5/335 , H04N23/45 , H04N23/61 , H04N23/73 , H04N23/741
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US11917281B2
公开(公告)日：2024-02-27
申请号：US17517882
申请日：2021-11-03
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N5/335 , H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
CPC classification number: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US11807276B2
公开(公告)日：2023-11-07
申请号：US18059948
申请日：2022-11-29
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Ruffin Evans , Vaibhav Nangia , Benjamin Ingram , Erik Chubb , Yonatan Winetraub
IPC: B60W60/00 , G01S17/89 , G01S13/89 , G01S17/58 , G05D1/02 , G01S13/58 , G06V10/22 , G06V20/58 , G06V20/56 , G05D1/00 , G01S17/931 , G01S13/931
CPC classification number: B60W60/0025 , G01S13/58 , G01S13/89 , G01S17/58 , G01S17/89 , G05D1/0212 , G06V10/22 , G06V20/58 , G06V20/588 , G01S13/931 , G01S17/931 , G05D1/0088 , G05D2201/0213
Abstract: A method includes determining a target specification map that is associated with a task and that indicates, for each respective region of a plurality of regions around a vehicle equipped with a sensor, a target value of a parameter of the sensor. The method also includes determining a capability specification map that indicates, for each respective region, an attained value of the parameter that the sensor is configured to provide. The method additionally includes comparing the capability specification map to the target specification map to determine, for each respective region, a disparity between the target value and the attained value. The method further includes, based on the comparing, identifying one or more of: a first subset of the plurality of regions where the target value exceeds the attained value or a second subset of the plurality of regions where the attained value meets or exceeds the target value.
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公开(公告)号：US20220060616A1
公开(公告)日：2022-02-24
申请号：US17517882
申请日：2021-11-03
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US20200351434A1
公开(公告)日：2020-11-05
申请号：US16935931
申请日：2020-07-22
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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Patent Agency Ranking
公开(公告)号：US12250476B2
公开(公告)日：2025-03-11
申请号：US17648692
申请日：2022-01-24
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer
IPC: H04N25/441 , H04N25/531
Abstract: Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.
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公开(公告)号：US11657536B2
公开(公告)日：2023-05-23
申请号：US17149621
申请日：2021-01-14
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60 , G06V20/56
CPC classification number: G06T7/80 , G01B11/2504 , G06T7/60 , H04N13/246 , H04N13/282 , G06T2207/30204 , G06V20/56
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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公开(公告)号：US20230152107A1
公开(公告)日：2023-05-18
申请号：US18156475
申请日：2023-01-19
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
CPC classification number: G01C21/3461 , G06V20/56 , G06T7/70 , G05D1/0246 , B60W60/0015
Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.
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公开(公告)号：US11561282B2
公开(公告)日：2023-01-24
申请号：US17503571
申请日：2021-10-18
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US11196916B2
公开(公告)日：2021-12-07
申请号：US16935931
申请日：2020-07-22
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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