US 11,933,647 B2
Sensor region of interest selection based on multisensor data
Nirav Dharia, Milpitas, CA (US); Giulia Guidi, Mountain View, CA (US); Ralph Shepard, Menlo Park, CA (US); Vlad Cardei, Redwood City, CA (US); and Lucian Ion, Santa Clara, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 25, 2022, as Appl. No. 17/872,244.
Application 17/872,244 is a continuation of application No. 16/808,314, filed on Mar. 3, 2020, granted, now 11,428,550.
Prior Publication US 2022/0357186 A1, Nov. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01D 5/353 (2006.01); G01S 13/89 (2006.01); H04N 5/33 (2023.01); G01S 7/40 (2006.01)
CPC G01D 5/35383 (2013.01) [G01S 13/89 (2013.01); H04N 5/33 (2013.01); G01S 7/4004 (2013.01)] 20 Claims
OG exemplary drawing
 
19. A system comprising:
a first sensor;
a second sensor having a field of view formed by a plurality of regions of interest (ROIs); and
control circuitry configured to perform operations comprising:
obtaining, from the first sensor and at a first time, first sensor data representing an environment;
determining, based on the first sensor data, information associated with a feature of interest within the environment;
determining, based on the information, a particular ROI of the plurality of ROIs of the second sensor, wherein the particular ROI corresponds to an expected position of the feature of interest within the environment at a second time later than the first time; and
obtaining, from the second sensor, a plurality of ROI sensor data from the particular ROI.