Cleaning system to remove debris from a lens

An apparatus comprising:

• a cover configured to enable light to reach an image sensor;
• an actuator configured to cause a vibration of said cover at a particular frequency in response to a control signal;
• and
• a processor configured to (i) generate image frames from pixel data generated by said image sensor, (ii) perform computer vision operations on said image frames to (a) detect objects in said images frames and (b) determine characteristics of said objects, (iii) analyze said characteristics of said objects to determine whether said objects are debris on said cover and (iv) present said control signal to said actuator in response to detecting a particular type of debris determined by said analysis of said characteristics to initiate said vibration, wherein
• said particular frequency of said vibration initiated by said control signal from said processor (i) reduces a force that attaches said debris to said cover and (ii) causes said image sensor to capture said pixel data while vibrating with a consistent movement pattern caused by said actuator,
• said processor implements image stabilization to counteract said consistent movement pattern of said vibration while said vibration is activated by said processor,
• said image stabilization performed by said processor on said image frames is configured to counteract a direction of said vibration that (i) is initiated by said processor and (ii) has said consistent movement pattern that is known in advance, and
• said actuator comprises two components configured to operate in antiphase at said particular frequency.