US 12,149,868 B2
Rotating LIDAR with co-aligned imager
Pierre-Yves Droz, Los Altos, CA (US); Simon Verghese, Mountain View, CA (US); and Brendan Hermalyn, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 9, 2023, as Appl. No. 18/388,458.
Application 18/388,458 is a continuation of application No. 17/959,170, filed on Oct. 3, 2022, granted, now 11,838,689.
Application 17/959,170 is a continuation of application No. 17/187,775, filed on Feb. 27, 2021, granted, now 11,470,284, issued on Oct. 11, 2022.
Application 17/187,775 is a continuation of application No. 16/592,541, filed on Oct. 3, 2019, granted, now 10,951,864, issued on Mar. 16, 2021.
Application 16/592,541 is a continuation of application No. 15/671,845, filed on Aug. 8, 2017, granted, now 10,447,973, issued on Oct. 15, 2019.
Prior Publication US 2024/0080414 A1, Mar. 7, 2024
Int. Cl. G01S 17/86 (2020.01); G01S 7/481 (2006.01); G01S 17/87 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); H04N 7/18 (2006.01); H04N 23/60 (2023.01); H04N 23/69 (2023.01)
CPC H04N 7/183 (2013.01) [G01S 7/4812 (2013.01); G01S 7/4817 (2013.01); G01S 17/86 (2020.01); G01S 17/87 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); H04N 23/60 (2023.01); H04N 23/69 (2023.01); B60R 2300/101 (2013.01); B60R 2300/301 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
capturing, using a first sensor, a first pixel corresponding to an object, wherein the first pixel is captured at a first time;
capturing, using the first sensor, a second pixel corresponding to the object, wherein the second pixel is captured at a second time;
determining, using a second sensor, a distance to the object;
mapping the first pixel to the second pixel based at least on:
the determined distance to the object, and
a rate of rotation of the first sensor; and
generating, using the first pixel and the second pixel, a combined pixel.