# US 10,372,139 B2 · Color filter array for machine vision system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,139 B2 - Document ID: US10372139B2 - Status: Granted - Kind: B2 - Application number: 15/713,125 - Filed: 2017-09-22 - Published: 2018-03-29 - Granted: 2019-08-06 - Earliest claimed: 2016-09-23 - Assignees: Apple Inc. - Applicants: Apple Inc. - Inventors: Lucian Ion; Mahesh Krishnamurthi - Web page: https://patentgrep.com/patent/US10372139B2 ## CPC - H04N 25/11: Arrangement of colour filter arrays [CFA]; Filter mosaics - G02B 5/201: {in the form of arrays} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - H04N 25/133: including elements passing panchromatic light, e.g. filters passing white light - G01S 2013/9318: {Controlling the steering} - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A machine vision system having a first camera configured to be coupled to a vehicle. The camera includes an optical stack having a color filter array with a plurality of sections. Each section includes a first white filter portion, a yellow filter portion, a magenta filter portion, and a second white filter portion. ## Claims ### Claim 1 A machine vision system, comprising: a first camera configured to be coupled to a vehicle, the camera having an optical stack comprising: a color filter array having a plurality of sections, each section comprising: a first white filter portion, a yellow filter portion, a magenta filter portion, and a second white filter portion, wherein the first camera is coupled to a central processing unit of the vehicle, wherein the central processing unit is configured to send vehicle maneuver instructions in response to image data received from the first camera, and wherein the machine vision system is configured to provide information to the vehicle to operate the vehicle along a path. ### Claim 2 (depends on 1) The machine vision system of claim 1, wherein the first white filter portion and the second white filter portion are disposed diagonally with respect to each other. ### Claim 3 (depends on 1) The machine vision system of claim 1, wherein the optical stack further comprises a lens and an image sensor. ### Claim 4 (depends on 3) The machine vision system of claim 3, wherein the image sensor comprises a plurality of pixels, and wherein each pixel has a section of the color filter array disposed over the pixel. ### Claim 5 (depends on 1) The machine vision system of claim 1, wherein the optical stack comprises, in order, a lens, an infrared filter, a microlens layer, the color filter array, and an image sensor. ### Claim 6 (depends on 1) The machine vision system of claim 1, wherein the central processing unit is configured to analyze an image captured by the first camera. ### Claim 7 (depends on 6) The machine vision system of claim 6, wherein the central processing unit is configured to identify at least one of a vehicle, a street light, a traffic sign, and a roadway marking in the image captured by the first camera. ### Claim 8 (depends on 6) The machine vision system of claim 6, wherein the central processing unit is configured to analyze the image captured by the first camera using a noise difference optimized color space. ### Claim 9 (depends on 6) The machine vision system of claim 6, wherein the central processing unit is configured to analyze the image captured by the first camera using an automotive reference color chart. ### Claim 10 (depends on 1) The machine vision system of claim 1, wherein the first camera is configured to operate in lighting conditions of less than 1 lux. ### Claim 11 (depends on 1) The machine vision system of claim 1, further comprising a second camera configured to be coupled to the vehicle, the second camera having a second optical stack, comprising: a second color filter array having a plurality of sections, each section comprising: a third white filter portion, a second yellow filter portion, a second magenta filter portion, and a fourth white filter portion. ### Claim 12 (depends on 11) The machine vision system of claim 11, wherein the second camera is coupled to the central processing unit of the vehicle, and wherein the central processing unit is configured to send vehicle maneuver instructions in response to image data received from the second camera. ### Claim 13 (depends on 1) The machine vision system of claim 1, wherein the vehicle is an autonomous vehicle. ### Claim 14 An autonomous vehicle, comprising: a plurality of cameras, wherein a first camera comprises: a color filter array having a plurality of sections, each section comprising: a first white filter portion, a yellow filter portion, a magenta filter portion, and a second white filter portion; and a central processing unit of the vehicle, wherein the first camera is coupled to the central processing unit of the vehicle, wherein the first camera is configured to provide information to the central processing unit of the vehicle, and wherein the central processing unit is configured to send vehicle maneuver instructions in response to image data received from the first camera to operate the autonomous vehicle along a path. ### Claim 15 (depends on 14) The autonomous vehicle of claim 14, wherein the first camera is configured to operate in lighting conditions of less than 1 lux. ### Claim 16 (depends on 14) The autonomous vehicle of claim 14, wherein the first camera is disposed on a front end of the vehicle. ### Claim 17 (depends on 14) The autonomous vehicle of claim 14, wherein the central processing unit is configured to detect at least one of a vehicle, a street light, a traffic sign, and a roadway marking from the image data. ### Claim 18 (depends on 14) The autonomous vehicle of claim 14, wherein the autonomous vehicle is an electric vehicle. ### Claim 19 A machine vision system, comprising: a first camera configured to be coupled to a vehicle, the camera having an optical stack comprising: a color filter array having a plurality of sections, each section comprising: a first white filter portion, a yellow filter portion, a magenta filter portion, and a second white filter portion, wherein the first camera is configured to operate in lighting conditions of less than 1 lux, and wherein the machine vision system is configured to provide information to the vehicle to operate the vehicle along a path. ### Claim 20 (depends on 19) The machine vision system of claim 19, wherein the first camera is coupled to a central processing unit of the vehicle, wherein the central processing unit is configured to send vehicle maneuver instructions in response to image data received from the first camera. ### Claim 21 (depends on 20) The machine vision system of claim 20, wherein the central processing unit is configured to detect at least one of a vehicle, a street light, a traffic sign, and a roadway marking from the image data. ### Claim 22 (depends on 19) The machine vision system of claim 19, wherein the first camera is disposed on a rear portion of the vehicle. ### Claim 23 (depends on 22) The machine vision system of claim 22, further comprising a second camera disposed on a front portion of the vehicle.