JP7183390B2 - 自律型車両用のカメラ評価技術 - Google Patents
自律型車両用のカメラ評価技術 Download PDFInfo
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Description
本出願は、2018年08月20日に出願された出願第16/105,069号の優先権を主張し、その開示は参照により本明細書に組み込まれる。
本技術は、2台以上のカメラの動作を評価すること、またはむしろ、カメラが適切に機能していることを確認することに関する。例えば、カメラが世界を適切に「見ている」かどうか、またはレンズに何らかの異物のごみが付いているか、結露があるか、機能していないピクセルがあるかなどを知るのは難しい場合がある。これは、運転判断を行うためにそのようなカメラに依拠する自律型車両の場合に特に重要であり得る。
図1に示されるように、本開示の一態様による車両100は、様々な構成要素を含む。本開示のある態様は、特定のタイプの車両と関連して特に有用であり、車両は、自動車、トラック、オートバイ、バス、レクリエーション用車両などを含むがこれらに限定されない任意のタイプの車両でもよい。車両は、1つ以上のコンピューティングデバイス、例えば、1つ以上のプロセッサ120、メモリ130、および汎用コンピューティングデバイスに典型的に存在する他の構成要素を含む、コンピューティングデバイス110を有してもよい。
上述し、図に示した動作に加えて、様々な動作を、ここで説明する。以下の動作は、以下に説明する正確な順序で実行される必要がないことを理解されたい。むしろ、様々なステップが、異なる順序で、または同時に処理されてもよく、ステップもまた、追加または省略されてもよい。
Claims (22)
- 2台以上のカメラの動作を評価する方法であって、
第1のカメラによって捕捉された第1の画像を、1つ以上のプロセッサによって受信することと、
第2のカメラによって捕捉された第2の画像を、前記1つ以上のプロセッサによって受信することであって、前記第1のカメラおよび前記第2のカメラが重複する視野を有する、受信することと、
前記第1の画像に対する第1の特徴ベクトルおよび前記第2の画像に対する第2の特徴ベクトルを、前記1つ以上のプロセッサによって生成することと、
前記第1の特徴ベクトルおよび前記第2の特徴ベクトルを使用して、類似性スコアを前記1つ以上のプロセッサによって決定することと、
前記類似性スコアを、前記第1のカメラおよび前記第2のカメラからの画像から経時的に生成される他の類似性スコアと比較することと、
前記類似性スコアと前記他の類似性スコアとの比較に基づいて、前記2台のカメラの前記動作を前記1つ以上のプロセッサによって評価することと、を含む、方法。 - 前記第1の画像および前記第2の画像が異なるように露光される、請求項1に記載の方法。
- 前記第1のカメラがNDフィルタを含み、前記第2のカメラが含まない、請求項1に記載の方法。
- 前記第1の画像の露光期間が、前記第2の画像の露光期間よりも長い、請求項1に記載の方法。
- 前記第1の画像および前記第2の画像が、前記重複する視野内の所与の位置にある物体を捕捉するように、所定の期間内に捕捉される、請求項1に記載の方法。
- 前記第1の特徴ベクトルおよび前記第2の特徴ベクトルを生成する前に、前記第1の画像および前記第2の画像を縮小することをさらに含む、請求項1に記載の方法。
- 前記第1の画像および前記第2の画像を縮小することが、前記重複する視野に対応するピクセルのみを含むよう、前記第1の画像および前記第2の画像をクロッピングすることを含む、請求項6に記載の方法。
- 前記第1の画像および前記第2の画像を縮小することが、前記第1の画像および前記第2の画像をサムネイル化することを含む、請求項6に記載の方法。
- 前記第1の特徴ベクトルおよび前記第2の特徴ベクトルが、時刻に基づいてさらに生成される、請求項1に記載の方法。
- 前記第1の特徴ベクトルおよび前記第2の特徴ベクトルが、発光物に対応する特徴のみを含むように生成される、請求項1に記載の方法。
- 前記類似性スコアを生成することが、構造類似性インデックスを使用することを含む、請求項1に記載の方法。
- 前記類似性スコアを閾値と比較することをさらに含み、
前記2台のカメラの前記動作を評価することが、前記類似性スコアと前記閾値との比較にさらに基づく、請求項1に記載の方法。 - 前記類似性スコアを前記他の類似性スコアと比較することが、累積和管理図を使用することを含む、請求項1に記載の方法。
- 前記評価に基づいて、リモートコンピューティングデバイスに支援の要求を送信することをさらに含み、前記要求が前記第1の画像および前記第2の画像を含む、請求項1に記載の方法。
- 前記要求を送信した後、前記リモートコンピューティングデバイスに前記第1のカメラからの更新された画像、および前記第2のカメラからの更新された画像を送信することをさらに含む、請求項14に記載の方法。
- 前記要求に応じて、車両を停止するための命令を受信することと、
前記要求に応じて前記車両を停止することと、をさらに含む、請求項14に記載の方法。 - 前記第1のカメラおよび前記第2のカメラの一方または両方に対して洗浄システムをアクティブにすることをさらに含む、請求項1に記載の方法。
- 前記評価に基づいて運転判断を行うことにより、自律運転モードの車両を、前記1つ以上のプロセッサによって制御することをさらに含む、請求項1に記載の方法。
- 前記車両を制御することが、前記運転判断を行うときに、前記第1の画像および前記第2の画像の一方または両方の全部または一部を破棄することを含む、請求項18に記載の方法。
- 前記類似性スコアを生成することが、前記第1の特徴ベクトルおよび前記第2の特徴ベクトルをモデルに入力することを含む、請求項1に記載の方法。
- 前記モデルが決定木モデルである、請求項20に記載の方法。
- 前記類似性スコアを生成することが、前記第1の画像の深度データ、前記第2の画像の深度データ、太陽の場所、または時刻情報のうちの少なくとも1つを含む追加情報を入力することをさらに含む、請求項20に記載の方法。
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US16/105,069 | 2018-08-20 | ||
US16/105,069 US11699207B2 (en) | 2018-08-20 | 2018-08-20 | Camera assessment techniques for autonomous vehicles |
PCT/US2019/047029 WO2020041178A1 (en) | 2018-08-20 | 2019-08-19 | Camera assessment techniques for autonomous vehicles |
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JP7183390B2 true JP7183390B2 (ja) | 2022-12-05 |
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EP (1) | EP3824623A4 (ja) |
JP (1) | JP7183390B2 (ja) |
KR (1) | KR102448358B1 (ja) |
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US10928819B2 (en) * | 2018-10-29 | 2021-02-23 | Here Global B.V. | Method and apparatus for comparing relevant information between sensor measurements |
US11341682B2 (en) | 2020-08-13 | 2022-05-24 | Argo AI, LLC | Testing and validation of a camera under electromagnetic interference |
US11368672B2 (en) | 2020-09-14 | 2022-06-21 | Argo AI, LLC | Validation of a camera cleaning system |
US11993274B2 (en) * | 2020-09-16 | 2024-05-28 | Zenuity Ab | Monitoring of on-board vehicle image capturing device functionality compliance |
WO2022201804A1 (ja) * | 2021-03-25 | 2022-09-29 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、情報処理方法、及びプログラム |
US11854269B2 (en) * | 2021-06-04 | 2023-12-26 | Waymo Llc | Autonomous vehicle sensor security, authentication and safety |
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KR20240054594A (ko) | 2022-10-19 | 2024-04-26 | 경북대학교 산학협력단 | 라이다 센서의 폐색 분류 장치 및 방법과 이를 갖는 자율주행 자동차 |
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