US 10,891,757 B2
Low-light camera occlusion detection
Vlad Constantin Cardei, Redwood City, CA (US); and Carl Warren Craddock, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 16, 2018, as Appl. No. 16/193,865.
Prior Publication US 2020/0160562 A1, May 21, 2020
Int. Cl. G06K 9/00 (2006.01); G06T 7/90 (2017.01); G05D 1/02 (2020.01)
CPC G06T 7/90 (2017.01) [G05D 1/0231 (2013.01); G06T 2207/10024 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of determining whether a camera is occluded, the method comprising:
capturing an image using the camera, the camera having red, green, and blue pixels each including a photosensor;
determining, by one or more processors, output values for the photosensors of each of the red pixels, green pixels, and blue pixels for the image;
comparing, by the one or more processors, the output values of the green pixels to one or more of the output values of the red pixels or the output values of the blue pixels; and
based on the comparison, determining, by the one or more processors, that the camera is occluded.