CAMERA SYSTEMS USING FILTERS AND EXPOSURE TIMES TO DETECT FLICKERING ILLUMINATED OBJECTS
First Claim
1. A system comprising:
- a first camera mounted on a vehicle in order to capture images of the vehicle'"'"'s environment, the first camera having a first exposure time and being without an ND filter;
a second camera mounted on the vehicle in order to capture images of the vehicle'"'"'s environment, the second camera having a second exposure time that is greater than or equal to the first exposure time and having an ND filter;
one or more processors configured to;
capture images using the first camera and the first exposure time;
capture images using the second camera and the second exposure time;
use the images captured using the second camera to identify illuminated objects;
use the images captured using the first camera to identify the locations of objects; and
use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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Accused Products
Abstract
The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle'"'"'s environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle'"'"'s environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
33 Citations
20 Claims
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1. A system comprising:
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a first camera mounted on a vehicle in order to capture images of the vehicle'"'"'s environment, the first camera having a first exposure time and being without an ND filter; a second camera mounted on the vehicle in order to capture images of the vehicle'"'"'s environment, the second camera having a second exposure time that is greater than or equal to the first exposure time and having an ND filter; one or more processors configured to; capture images using the first camera and the first exposure time; capture images using the second camera and the second exposure time; use the images captured using the second camera to identify illuminated objects; use the images captured using the first camera to identify the locations of objects; and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18)
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17. A camera for use on a vehicle, the camera comprising:
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a set of photodiodes; an ND filter arranged to filter light before the light reaches the set of photodiodes; and a controller configured to expose the set of photodiodes using a fixed exposure time of at least 5 milliseconds in order to capture an image, wherein the exposure time allows the camera to capture light from a PWM light source during the exposure time, the PWM light being located in an environment of the vehicle.
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19. A camera for use on a vehicle, the camera comprising:
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a set of photodiodes; an ND filter arranged to filter light before the light reaches the set of photodiodes; and a controller configured to expose the set of photodiodes using a fixed exposure time of at least 5 milliseconds in order to capture an image, wherein the exposure time allows the camera to capture light from a light source which flickers at a rate defined by a power grid that supplies power to the light source, the light source being located in an environment of the vehicle. - View Dependent Claims (20)
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Specification