Camera Fields of View for Object Detection
First Claim
Patent Images
1. A sensor system comprising:
- one or more ranging systems; and
a plurality of cameras,the plurality of cameras positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera,the plurality of cameras further positioned about at least one of the one or more ranging systems such that a combined field of view of the plurality of cameras comprises an approximately 360-degree field of view;
wherein the one or more ranging systems are configured to transmit ranging data to a perception system for detecting objects of interest; and
wherein the plurality of cameras are configured to transmit image data to the perception system for classifying the objects of interest.
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Abstract
The present disclosure provides systems and methods for detecting, localizing, and classifying objects that are proximate to an autonomous vehicle. A sensor system can include one or more ranging systems and a plurality of cameras. The plurality of cameras can be positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera. The one or more ranging systems can be configured to transmit ranging data to a perception system for detecting objects of interest and the plurality of cameras can be configured to transmit image data to the perception system for classifying the objects of interest.
39 Citations
20 Claims
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1. A sensor system comprising:
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one or more ranging systems; and a plurality of cameras, the plurality of cameras positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera, the plurality of cameras further positioned about at least one of the one or more ranging systems such that a combined field of view of the plurality of cameras comprises an approximately 360-degree field of view; wherein the one or more ranging systems are configured to transmit ranging data to a perception system for detecting objects of interest; and wherein the plurality of cameras are configured to transmit image data to the perception system for classifying the objects of interest. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous vehicle comprising:
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a vehicle computing system comprising; one or more processors; and one or more memories including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising; detecting objects of interest; and classifying the detected objects of interest; a sensor system comprising; a plurality of cameras, the plurality of cameras positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera; and wherein the plurality of cameras are configured to transmit image data to the vehicle computing system for classifying objects of interest. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A computer-implemented method of detecting objects of interest comprising:
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receiving, by one or more computing devices, ranging data from one or more ranging systems configured to transmit ranging signals relative to an autonomous vehicle; receiving, by the one or more computing devices, image data from a plurality of cameras configured to capture images relative to the autonomous vehicle, the plurality of cameras positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera; detecting, by the one or more computing devices, an object of interest proximate to the autonomous vehicle within the ranging data; determining, by the one or more computing devices, a first image area within image data captured by a first camera within the plurality of cameras containing the object of interest; determining, by the one or more computing devices, a second image area within image data captured by a second camera within the plurality of cameras containing the object of interest, the second image area overlapping the first image area and providing a greater view of the object than provided in the first image area; and classifying, by the one or more computing devices, the object of interest based at least in part on the second image area.
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Specification