Global and local light detection in optical sensor systems

A system comprising:

• a plurality of optical sensors;
• and
• modules implemented at least partially in hardware, the one or more modules configured to implement:
• a global lighting module configured to generate a global lighting value that describes a global lighting level for the plurality of optical sensors based on a plurality of inputs received from the plurality of optical sensors, the global lighting value generated by comparing a histogram indicating intensity of pixels in the image to a plurality of pre-trained histograms of intensity corresponding to different global lighting values;
• a local lighting module configured to generate an illumination map that describes local lighting conditions of respective ones of the plurality of optical sensors based on the plurality of inputs received from the plurality of optical sensors;
• and
• an object detection module configured to perform object detection using an image captured using the plurality of optical sensors along with the global lighting value and the illumination map.

A computing device comprising;

• a processing system;
• and
• one or more computer readable storage media comprising instructions that, when executed by the processing system, cause the computing device to perform operations for object detection including:
• generating a global lighting value that describes a global lighting level for a plurality of optical sensors based on a plurality of inputs received from the plurality of optical sensors, the global lighting value determined based on a comparison of a histogram indicating pixel intensity in the image to pre-trained histograms of intensity corresponding to different global lighting values;
• generating an illumination map that describes local lighting conditions of respective ones of the plurality of optical sensors based on the plurality of inputs received from the plurality of optical sensors;
• and
• performing object detection using an image captured using the plurality of optical sensors along with the global lighting value and the illumination map.