US 12,133,005 B2
Synchronized spinning LIDAR and rolling shutter camera system
Blaise Gassend, East Palo Alto, CA (US); Benjamin Ingram, Santa Clara, CA (US); Andreas Wendel, Mountain View, CA (US); and Mark Alexander Shand, Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jan. 5, 2023, as Appl. No. 18/150,249.
Application 18/150,249 is a continuation of application No. 17/186,121, filed on Feb. 26, 2021, granted, now 11,558,566.
Application 17/186,121 is a continuation of application No. 16/556,683, filed on Aug. 30, 2019, granted, now 10,939,057, issued on Mar. 21, 2021.
Application 16/556,683 is a continuation of application No. 15/719,366, filed on Sep. 28, 2017, granted, now 10,523,880, issued on Dec. 31, 2019.
Prior Publication US 2023/0147270 A1, May 11, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 5/353 (2011.01); G01S 17/42 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G06T 7/521 (2017.01); G06T 7/90 (2017.01); G06T 17/05 (2011.01); H04N 5/225 (2006.01); H04N 5/232 (2006.01); H04N 5/235 (2006.01); H04N 5/247 (2006.01); H04N 5/341 (2011.01); H04N 23/45 (2023.01); H04N 23/698 (2023.01); H04N 23/71 (2023.01); H04N 23/73 (2023.01); H04N 23/90 (2023.01); H04N 25/40 (2023.01); H04N 25/531 (2023.01)
CPC H04N 25/531 (2023.01) [G01S 17/42 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06T 7/521 (2017.01); H04N 23/45 (2023.01); H04N 23/698 (2023.01); H04N 23/71 (2023.01); H04N 23/73 (2023.01); H04N 23/90 (2023.01); H04N 25/40 (2023.01); G06T 7/90 (2017.01); G06T 17/05 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10144 (2013.01); G06T 2207/10152 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a light detection and ranging (LIDAR) sensor, wherein the LIDAR sensor is configured to perform a scan of an environment based on adjustment of a pointing direction of the LIDAR sensor about an axis, and wherein the adjustment of the pointing direction adjusts a field-of-view (FOV) of the LIDAR sensor;
a camera configured to capture images within a FOV of the camera; and
a controller coupled to the LIDAR sensor and the camera, wherein the controller is configured to determine a start time of an exposure time period of the camera based on a particular time associated with the pointing direction of the LIDAR sensor being in a particular orientation about the axis and cause the camera to capture an image during the exposure time period, such that the exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps the FOV of the camera.