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US 12,181,607 B2Granted
Systems and methods for occlusion detection
AssigneeWaymo LLC
InventorsJason Watson, Blaise Gassend
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to systems and methods for occlusion detection. An example system includes a primary reflective surface and a rotatable mirror configured to rotate about a rotational axis. The rotatable mirror includes a plurality of secondary reflective surfaces. The system also includes an optical element and a camera that is configured to capture at least one image of the optical element by way of the primary reflective surface and at least one secondary reflective surface of the rotatable mirror.
Claims20
A system comprising:
- a primary reflective surface;
- a rotatable mirror configured to rotate about a rotational axis, wherein the rotatable mirror comprises a plurality of secondary reflective surfaces;
- an optical element;
- and
- a camera, wherein the camera is configured to focus on the optical element to capture at least one image of the optical element by way of the primary reflective surface and at least one secondary reflective surface of the rotatable mirror.
2 more elements
A light detection and ranging (lidar) system comprising:
- a transmitter;
- a receiver;
- an optical element;
- a rotatable mirror configured to rotate about a rotational axis, wherein the rotatable mirror comprises a plurality of secondary reflective surfaces;
- a camera, wherein the camera is configured to focus on the optical element to capture at least one image of the optical element by way of at least one secondary reflective surface of the rotatable mirror;
- and
- a controller having at least one processor and a memory, wherein the at least one processor executes program instructions stored in the memory so as to carry out operations, the operations comprising:
- causing the rotatable mirror to rotate about the rotational axis;
- and
- causing the camera to capture a plurality of images of the optical element by way of at least one secondary reflective surface of the rotatable mirror, wherein each image of the plurality of images is captured at a corresponding mirror angle of the at least one secondary reflective surface.
7 more elements
A method comprising:
- causing a rotatable mirror to rotate about a rotational axis, wherein the rotatable mirror comprises a plurality of secondary reflective surfaces;
- and
- causing a camera, which is focused on an optical element, to capture a plurality of images of the optical element by way of at least one secondary reflective surface of the rotatable mirror, wherein each image of the plurality of images is captured at a corresponding mirror angle of the at least one secondary reflective surface.
Dependencies are inferred from the claim text.