Embodiments relate to a farming machine that includes a beam, an actuator system, a sensor system, and a control system. The beam extends away from a body of the farming machine. The actuator system controls a position of the actuatable beam relative to the body. The sensor system generates measurement data that indicates the position of a ground point in front of a component of the farming machine relative to the sensor system. The control system determines a target beam height for the ground point. Based on the measurement data and the target beam height, the control system actuates the actuator system to adjust the position of the beam. As a result of the position adjustment, the height of the beam relative to the ground is equal to the target beam height prior to the component passing over the ground point.
A farming machine moves through a field and performs one or more farming actions (e.g., treating one or more plants) in the field. Portions of the field may include moisture, such as puddles or mud patches. A control system associated with the farming machine may include a traversability model and/or a moisture model to help the farming machine operate in the field with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the farming machine attempting to traverse an untraversable portion of the field, and the control system may employ the moisture model to reduce the likelihood of the farming machine performing an action that will damage a portion of the field.
A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
B60W 10/30 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande d'équipements auxiliaires, p. ex. des compresseurs pour la climatisation ou des pompes à huile
B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
4.
CAMERA CALIBRATION FOR STEREOSCOPIC DEPTH DETERMINATION IN A VEHICLE CONTROL SYSTEM
Calibration target(s) are mounted on a vehicle including a plurality of cameras. The calibration targets are in the field of view of the cameras. The calibration targets are sometimes LED or IR illumined targets. The targets in some embodiments are shielded to block light from oncoming cars and/or to block driver view of the target to reduce the risk of driver distraction. The cameras capture images at the same time. Calibration operations are then performed using the target or targets included in the captured images as a known visual reference of a known shape, size and/or having a known image pattern. Calibration parameters including parameters providing information about the location and/or spatial positions of the cameras with respect to each other and/or the target are generated from the captured images. Distance to objects in the environment which are included in the captured images are then determined.
H04N 13/239 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
B60R 1/00 - Dispositions pour la visibilité optiqueDispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d’images optiques, p. ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
A control system of a farming machine is configured to identify obstruction in a field from image data of the field. The control system accesses an obstruction model configured to identify obstructions in a field from image data of the field. The obstruction model is generated by accessing image data of obstructions in a training field, each obstruction corresponding to a prescribed action occurring at a prescribed time, labelling the image data of the obstructions, and training the obstruction model based on the labelled image data. The control system captures image data of the field including an obstruction and inputs the image data into the obstruction model. Responsive to identifying the obstruction in the field, the control system modifies treatment instructions of the farming machine such that the farming machine performs a implements a farming objective while avoiding the obstruction in the field.
A control system receives image data of a portion of a field, where the image data comprises a plurality of pixels each representing a three dimensional (3D) coordinate in the field. The control system applies an obstruction identification model to the image data to identify an obstruction in the field. The obstruction identification model determines a seed segment for the field portion and determines a detection ground plane by extrapolating a seed segment to the 3D coordinates of the plurality of pixels. The obstruction identification model identifies a set of pixels of the plurality of pixels that have three dimensional coordinates above the detection ground plane as the obstruction. The control system executes an action for the farming machine to avoid the obstruction in the field based on the obstruction identification model's identification of the obstruction.
A detection system (210) detects malfunctions in an autonomous farming vehicle during an autonomous routine using one or more models and data from sensors (220) coupled to the autonomous farming vehicle. The models may include machine-learned models (310) trained on the sensor data and configured to identify objects indicative of an operational or malfunctioning component within a tilling assembly such as a tilling shank (350) or sweep (360). Additionally, a machine-learned model may be trained on sensor data to detect whether debris has plugged the tilling assembly of the autonomous farming vehicle (370). In response to detecting a malfunction or a plug, the detection system may modify the autonomous routine (e.g., pausing operation) or provide information for the malfunction to be addressed (e.g., the likely location of a malfunctioning sweep that has detached from the tilling assembly).
A01B 49/06 - Combinaisons d'outils de travail de la terre et d'outils non destinés au travail de la terre, tels que des plantoirs pour semer ou répandre des engrais
A system and a method are disclosed for planning a path within a field for a farming machine. The system predicts boundaries of the field using a previously captured image of the field and generates a suggested route to be taken by a data collection device based on the predicted boundaries. As the data collection device travels along the suggested route, the data collection device collects location data associated with a current layout of the field. The location data may be labeled with obstructions encountered along the way. Based on the location data, the system identifies current boundaries of the field, which may be different from the predicted boundaries. The current boundaries are sent to a verification device to be verified. After the current boundaries have been verified, the path for the farming machine is planned.
A system and a method are disclosed for calibrating an image acquisition system of a farming machine. The farming machine captures images of objects in an environment as the farming machine moves through an environment. Based on the captured images, a represented three-dimensional (3D) model of the environment representing the objects in a three-dimensional space is generated. From the represented 3D model, a represented location of an object (e.g., building, lamppost, tree) is determined. The represented location of the object is compared to a reference location of the object and the comparison is used to calibrate the image acquisition system by modifying positions, orientations, or optical settings of one or more cameras in the image acquisition system.
A farming machine identifies and treats a plant as the farming machine travels through a field. The farming machine includes an array of tiled image sensors for capturing images of the field. A control system identifies an active region in the captured images and generates a tiled image that includes the active region. The control system applies image processing functions to identify the plant in the tiled image and actuates a treatment mechanism to treat the identified plant. The control system causes the array of image sensors to capture the image, identifies the plant, and actuates the treatment mechanism in real time as the farming machine travels through the field.
A01M 7/00 - Adaptations ou aménagements particuliers des appareils de pulvérisation de liquides aux fins couvertes dans la présente sous-classe
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
42 - Services scientifiques, technologiques et industriels, recherche et conception
44 - Services médicaux, services vétérinaires, soins d'hygiène et de beauté; services d'agriculture, d'horticulture et de sylviculture.
Produits et services
Industrial robots; agricultural machines, namely,
plant-thinning machines, chemical application machines,
spraying machines, field cultivation machines, fertilizer
application machines, and weeding machines. Computer hardware; downloadable computer software for use in
the agricultural field for collecting information using
visual or hyperspectral sensors and remote sensors;
downloadable computer software for use in the agricultural
field for collecting information using visual or
hyperspectral sensors and remote sensors and for
characterizing, classifying and measuring plants;
downloadable computer software for analyzing plant and crop
and agricultural field status for the purpose of creating a
prescription for planning or in-season intervention and to
perform analysis to calculate, approximate or optimize crop
yields; aerial and ground based plant-imaging machines for
agricultural use, namely, cameras and imaging sensors. Aerial plant-imaging machines for agricultural use, namely,
camera drones. Providing business advice and information services in the
agricultural field. Services in the field of agriculture, namely, agricultural
research, scientific research, industrial research in the
field of agriculture. Agricultural services, namely, aerial and surface spreading
of fertilizers and chemicals, and planting, growing,
fertilizing and harvesting of nuts, legumes, fruit,
vegetable, grain and fiber crops of others; providing
agricultural advice and consultation.
A farming machine is configured to identify and treat plants in a field. The farming machine includes one or more light sensors for measuring a characteristic of light. The one or more light sensors are coupled to the farming machine and are directed a substantially upwards orientation away from the plants. A control system adjusts settings of an image acquisition system based on a characteristic of light measured by the one or more light sensors. The image acquisition system captures an image of a plant using one or more image sensors coupled to the farming machine, the one or more image sensors directed in a substantially downwards orientation towards the plants. The control system identifies a plant in the image and actuates a treatment mechanism to treat the identified plant.
A01C 23/00 - Dispositifs distributeurs spécialement adaptés pour répandre le purin ou d'autres engrais liquides, y compris l'ammoniaque, p. ex. réservoirs de transport ou voitures arroseuses
13.
Methods and apparatus for using a controllable physical light filter as part of an image capture system and for processing captured images
Methods and apparatus for using a controllable filter, e.g., an liquid crystal panel, in front of a camera are described. The filter is controlled based on the luminosity of object in a scene being captured by the camera to reduce or eliminate luminosity related image defects such as flaring, blooming or ghosting. Multiple cameras and filters can be used to capture multiple images as part of a depth determination processes where pixel values captured by cameras at different locations are matched to determine the depth, e.g., distance from the camera or camera system to object in the environment. Pixel values are normalized in some embodiments based on the amount of filtering applied to a sensor region and sensor exposure time. The filtering allows for regional sensor exposure control at an individual camera even though the overall exposure time of the pixel sensors may be and often will be the same.
A farming machine includes one or more image sensors for capturing an image as the farming machine moves through the field. A control system accesses an image captured by the one or more sensors and identifies a distance value associated with each pixel of the image. The distance value corresponds to a distance between a point and an object that the pixel represents. The control system classifies pixels in the image as crop, plant, ground, etc. based on the visual information in the pixels. The control system generates a labelled point cloud using the labels and depth information, and identifies features about the crops, plants, ground, etc. in the point cloud. The control system generates treatment actions based on any of the depth information, visual information, point cloud, and feature values. The control system actuates a treatment mechanism based on the classified pixels.
A01G 7/06 - Traitement des arbres ou des plantes en cours de croissance, p. ex. pour prévenir la décomposition du bois, pour teinter les fleurs ou le bois, pour prolonger la vie des plantes
A01G 13/06 - Dispositifs générateurs de chaleur, de fumée ou de brouillard pour les jardins, vergers ou forêts, p. ex. pour prévenir les dégâts provoqués par la gelée
A01M 21/04 - Appareils pour destruction par la vapeur, les produits chimiques, le feu ou l'électricité
15.
PLANT IDENTIFICATION IN THE PRESENCE OF AIRBORNE PARTICULATES
A farming machine including a number of treatment mechanisms treats plants as the farming machine moves through the field. The control system of the farming machine executes a plant identification model configured to identify plants in the field for treatment. The plant identification model is also configured to identify plants in non-ideal operating conditions. For example, the control system can identify and treat plants in non-ideal operating conditions where airborne particulates are present in an accessed image. The plant identification model is also configured to determine a particulate level in an accessed image and transmit a notification of the particulate level to an operator of the farming system. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. The farming machine treats the plants in the field according to the treatment map.
A wiper is controlled to sweep a surface area, e.g., a portion of a windshield, in front of a camera, e.g., a camera mounted inside a vehicle. An image captured from the camera after the wiper completes, e.g., immediately completes, the sweep of the surface area in front of the camera is used in generating a depth map. In some embodiments a first wiper is controlled to clear a surface area in front of a first camera while a second wiper is controlled to clear a surface area in front of second camera at the same time, and the first and second cameras are synchronized to initiate image capture at the same time, capturing images through recently cleared area, and the captured images are used to generate a depth map. A vehicle control operation, e.g., a direction, braking or speed control operation is performed based on the depth map.
B60S 1/08 - Essuie-glaces ou analogues, p. ex. grattoirs caractérisés par l'entraînement entraînés électriquement
B60R 11/04 - Montage des caméras pour fonctionner pendant la marcheDisposition de leur commande par rapport au véhicule
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A farming machine moves through a field and includes an image sensor that captures an image of a plant in the field. A control system accesses the captured image and applies the image to a machine learned plant identification model. The plant identification model identifies pixels representing the plant and categorizes the plant into a plant group (e.g., plant species). The identified pixels are labeled as the plant group and a location of the pixels is determined. The control system actuates a treatment mechanism based on the identified plant group and location. Additionally, the images from the image sensor and the plant identification model may be used to generate a plant identification map. The plant identification map is a map of the field that indicates the locations of the plant groups identified by the plant identification model.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
Methods and apparatus for supporting zoom operations using a plurality of optical chain modules, e.g., camera modules, are described. Switching between use of groups of optical chains with different focal lengths is used to support zoom operations. Digital zoom is used in some cases to support zoom levels corresponding to levels between the zoom levels of different optical chain groups or discrete focal lengths to which optical chains may be switched. In some embodiments optical chains have adjustable focal lengths and are switched between different focal lengths. In other embodiments optical chains have fixed focal lengths with different optical chain groups corresponding to different fixed focal lengths. Composite images are generate from images captured by multiple optical chains of the same group and/or different groups. Composite image is in accordance with a user zoom control setting. Individual composite images may be generated and/or a video sequence.
G02B 15/04 - Objectifs optiques avec moyens de faire varier le grossissement en modifiant, ajoutant ou retirant une partie de l'objectif, p. ex. objectifs transformables par changement d'une partie
G02B 26/00 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables
H04N 5/247 - Disposition des caméras de télévision
G02B 5/00 - Éléments optiques autres que les lentilles
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
A boom sprayer includes any number of components to treat plants as the boom sprayer travels through a plant field. The components take actions to treat plants or facilitate treating plants. The boom sprayer includes any number of sensors to measure the state of the boom sprayer as the boom sprayer treats plants. The boom sprayer includes a control system to generate actions for the components to treat plants in the field. The control system includes an agent executing a model that functions to improve the performance of the boom sprayer treating plants. Performance improvement can be measured by the sensors of the boom sprayer. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.
G05B 13/02 - Systèmes de commande adaptatifs, c.-à-d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques
20.
SEMANTIC SEGMENTATION TO IDENTIFY AND TREAT PLANTS IN A FIELD AND VERIFY THE PLANT TREATMENTS
A farming machine including a number of treatment mechanisms treats plants according to a treatment plan as the farming machine moves through the field. The control system of the farming machine executes a plant identification model configured to identify plants in the field for treatment. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. To generate a treatment map, the farming machine captures an image of plants, processes the image to identify plants, and generates a treatment map. The plant identification model can be a convolutional neural network having an input layer, an identification layer, and an output layer. The input layer has the dimensionality of the image, the identification layer has a greatly reduced dimensionality, and the output layer has the dimensionality of the treatment mechanisms.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
Methods and apparatus for supporting zoom operations using a plurality of optical chain modules, e.g., camera modules, are described. Switching between use of groups of optical chains with different focal lengths is used to support zoom operations. Digital zoom is used in some cases to support zoom levels corresponding to levels between the zoom levels of different optical chain groups or discrete focal lengths to which optical chains may be switched. In some embodiments optical chains have adjustable focal lengths and are switched between different focal lengths. In other embodiments optical chains have fixed focal lengths with different optical chain groups corresponding to different fixed focal lengths. Composite images are generate from images captured by multiple optical chains of the same group and/or different groups. Composite image is in accordance with a user zoom control setting. Individual composite images may be generated and/or a video sequence.
G02B 15/04 - Objectifs optiques avec moyens de faire varier le grossissement en modifiant, ajoutant ou retirant une partie de l'objectif, p. ex. objectifs transformables par changement d'une partie
G02B 26/00 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables
H04N 5/247 - Disposition des caméras de télévision
G02B 5/00 - Éléments optiques autres que les lentilles
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
22.
Methods and apparatus for implementing zoom using one or more moveable camera modules
Methods and apparatus for implementing a camera device including multiple camera modules and which supports zoom operations are described. A plurality of moveable camera modules are included with the position of the moveable camera modules being controlled as a function of a zoom setting. One or more fixed camera modules are also included to facilitate image combining. A fixed camera module having a smaller focal length than the movable camera modules is used in some embodiments to capture a scene area including scene area portions which will be captured by movable camera modules. The image captured by the fixed camera module, with the small focal length, is used in aligning images captured by the movable camera modules during generation of a composite image. The camera may also include another fixed camera module, e.g., having the same focal length as the movable camera modules, for capturing the center of a scene.
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
A camera device with a sensor which is mounted at an angle relative to a mounting surface or other reference surface is described. Camera modules, which include mirrors for light redirection, which are mounted at different angles in the camera device have sensors with different amounts of rotation. In some embodiments modules without mirrors use camera modules without rotated sensors while camera modules with mirrors may or may not use sensors which are rotated depending on the angle at which the modules are mounted in the camera device. By rotating the sensors of some camera modules rotation that maybe introduced by the angle at which a camera module is mounted can be offset. The images captured by different camera modules are combined in some embodiments without the need for computationally rotating an image thanks to the rotation of the sensor in the camera module used to capture the image.
Methods and apparatus for maintaining, adjusting and/or accurately determining the position of a moveable element, e.g., a moveable shaft mounted component are described. The moveable component may be, for example, a mirror or mirror support of a camera module. A hall sensor is used to measure distance to the moveable component. To facilitate the distance measurement a magnet is secured to the moveable component. The hall sensor is used to determine the distance between the magnet and sensor. A metal plate is placed along a side of one of the supports used to support the shaft to which the moveable component is attached. The magnet which facilitates distance measurement is attracted to the plate reducing the risk of side to side movement even when the shaft fits loosely in the supports and is rotated. The magnet facilitates distance measurements and reliable control of position relative to the sidewall plate.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
25.
AUTOMATIC CAMERA PARAMETER ADJUSTMENT ON A PLANT TREATMENT SYSTEM
A plant treatment system automatically adjusts camera operation parameters for a camera used by the plant treatment system to identify and treat plants in a field. The plant treatment system can generate image segments of images received from the camera and classify the image segments based on whether the image segments represent plants. The plant treatment system determines whether each of the image segments is over- or under-exposed and adjusts the camera operation parameters for the camera based on the exposure classification of the image segments. Alternatively, the plant treatment system may use a plant detection model to identify plant pixels within an image that represent plants. The plant treatment system can then determine whether the identified plant pixels are over- or under-exposed and adjust the camera operation parameters accordingly.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06K 9/32 - Alignement ou centrage du capteur d'image ou de la zone image
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
A plant treatment platform uses a plant detection model to detect plants as the plant treatment platform travels through a field. The plant treatment platform receives image data from a camera that captures images of plants (e.g., crops or weeds) growing in the field. The plant treatment platform applies pre-processing functions to the image data to prepare the image data for processing by the plant detection model. For example, the plant treatment platform may reformat the image data, adjust the resolution or aspect ratio, or crop the image data. The plant treatment platform applies the plant detection model to the pre-processed image data to generate bounding boxes for the plants. The plant treatment platform then can apply treatment to the plants based on the output of the machine-learned model.
A01G 1/00 - Horticulture; Culture des légumes (étiquettes ou plaques d'identification G09F 3/00, G09F 7/00)
A01M 21/04 - Appareils pour destruction par la vapeur, les produits chimiques, le feu ou l'électricité
G01N 33/00 - Recherche ou analyse des matériaux par des méthodes spécifiques non couvertes par les groupes
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A combine harvester (combine) includes any number of components to harvest plants as the combine travels through a plant field. The components take actions to harvest plants or facilitate harvesting plants. The combine includes any number of sensors to measure the state of the combine as the combine harvests plants. The combine includes a control system to generate actions for the components to harvest plants in the field. Thecontrol system includes an agent executing a model that functions to improve the performance of the combine harvesting plants. Performance improvement can be measured by the sensors of the combine. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.
In various embodiments a camera with multiple optical chains, e.g., camera modules, is controlled to operate in one of a variety of supported modes of operation. The modes include a non-motion mode, a motion mode, a normal burst mode and/or a reduced data burst mode. Motion mode is well suited for capturing an image including motion, e.g., moving object(s) with some modules being used to capture scene areas using a shorter exposure time than other modules and the captured images then being combined taking into consideration locations of motion. A reduced data burst mode is supported in some embodiments in which camera modules with different focal lengths capture images at different rates. While the camera modules of different focal length operate at different image capture rates in the reduced data burst mode, images are combined to support a desired composite image output rate, e.g., a desired frame rate.
Methods and apparatus for implementing optical chains, e.g., camera modules, which can be used in a camera device are described as well as camera devices including multiple camera modules. In various embodiments one or more camera modules include mirror assemblies which support a movable mirror. The mirror is driven in some embodiments by a linear actuator, e.g., piezo electric actuator with the linear motion of the actuator's push rod being converted into angular mirror rotation by use of hinge, e.g., pivot on which the mirror is mounted. A return spring provide a force contrary to that provided by the actuator. A recess is included in a mounting board to allow the bottom of the mirror or a portion of the mirror mounting hinge to be placed below the surface of the mounting board to which the camera module is secured.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
Camera methods and apparatus are described where the camera device includes multiple optical chains. In various embodiments two or more of the optical chains include light redirection devices such as mirrors or prisms. Sensors corresponding to multiple different optical chains, but not necessarily all optical chains, are parallel to each other. In some embodiments sensors corresponding to different optical chains are located in the same plane at the front or rear of the camera. However other sensor mounting positions are also possible.
Methods and apparatus provide for simulated, e.g., synthetic, aperture control. In some embodiments a user, after a camera autofocus or user selection of an object to focus on, sets a blur level and views the effect. Once the user controlled blur setting is complete, images are captured with the in-focus, e.g., autofocus, setting and other images are captured with the focus set to capture a blurred image based on the set blur level. In focus and out of focus images are captured in parallel using different camera modules in some embodiments. A composite image is generated by combining portions of one or more sharp and blurred images. Thus a user can capture portions of images with a desired level of blurriness without risking blurring other portions of an image while controlling how the captured images are combined to form a composite image with in-focus and blurred portions.
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
Camera device including multiple optical chains, e.g., camera modules, some of which have different orientations relative to the base of the camera device and methods of using such a camera device are described. The orientation of the camera modules within the camera device is taken into consideration when determining the direction in which lines of the sensors of the individual camera modules are read out. Information with regard to the read out direction to be used with particular camera modules is stored in some embodiments and used to control the readout of sensors, e.g., sensors which use a rolling shutter to capture images of a scene area. The sensors may have the same field of view or overlapping fields of view.
An exemplary camera calibration apparatus includes a movable, e.g., rotatable, support structure which is controllably positioned to allow for image capture of different test patterns and image capture of the same pattern at different distances by a mounted camera. A first test pattern is mounted on a wall, e.g., a pyramid shaped 4 sided wall formed by panels surrounding the camera under calibration. The movable support structure has a first mirror attached to a first side and has a second test pattern attached to a second side. A second mirror mounted on an internal sidewall of the calibration apparatus housing facilities a different image path distance between the camera capturing the image of the first test pattern and the first test pattern. The exemplary camera calibration apparatus is well suited for efficiently calibrating camera devices including a plurality of camera modules, e.g., optical chains, in a relatively small area.
Methods and apparatus relating to image capture of image portions using optical chains with non-parallel optical axis are described. In some embodiments different portions of a scene area of interest captured by different optical chains operating in parallel are combined. The use of multiple optical chains in parallel facilitates generation of an image with a higher overall pixel count than would be possible using a single sensor of one of the optical chains and/or with more light capture than would be captured using a single one of the optical chains.
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
G02B 7/28 - Systèmes pour la génération automatique de signaux de mise au point
37.
Methods and apparatus for synchronized image capture using camera modules with different focal lengths
Methods and apparatus relating to controlling optical chains (OCs) of a camera device to scan a scene area of interest, thereby capturing images of the scene area, in a synchronized manner are described. In various embodiments a synchronized rolling shutter read out of two or more image sensors included in two or more corresponding OCs is implemented controlling the sensors to read out rows of pixel values corresponding to a portion of the scene at the same time, e.g., concurrently. While two or more of the OCs are controlled to read out at the same time, some other OCs in the camera maybe controlled not to read out pixel values while other image sensors are reading out. In various embodiments the read out rate of the two or more sensors corresponding to two or more optical chains is controlled as a function of the focal lengths of the corresponding OCs.
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
G02B 7/09 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement adaptés pour la mise au point automatique ou pour faire varier le grossissement de façon automatique
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
Methods and apparatus relating to capturing images of a scene area in a synchronized manner using a plurality of optical chains are described. In various embodiments image sensors corresponding to the plurality of optical chains of a camera are operated in rolling shutter mode to read out rows of pixel values corresponding to a current scan position when the image sensors have a row of pixel values corresponding to the current scan position. In some embodiments a scene area of interest is captured by initiating a scan and thus image capture of the scene area by one or more optical chains which are operated in a coordinated manner. In some embodiments a controller controls the plurality of image sensors to perform a read out of pixel values in a synchronized manner, e.g., with rows of pixel values being read out sequentially in accordance with operation of a rolling shutter implementation.
Methods and apparatus for providing a user of a camera information about the status of one or more lenses and/or providing a subject of a photograph an indicator of where to look during image capture are described. In some embodiments different sets of camera modules are used for taking photographs depending on user input and/or the distance to the objects to be captured. In various embodiments an indicator, e.g., light emitting element, is associated with each of the different sets of camera modules which maybe used to indicate where a subject should look during image capture by the corresponding set of camera modules. In some embodiment dirty lenses of the camera are detected and the user is notified of the dirty lenses through an audible and/or visual indication. In some embodiments the indication of which lens/lenses are dirty is provided by illuminating light emitting elements corresponding to the dirty lens(es).
Methods and apparatus for detecting and/or indicating a blocked sensor and/or blocked camera module are described. The sensor maybe a distance sensor used to support focus operations. Depending on the embodiment, the camera system may include one or more sensors and one or more camera modules. As sensor output is received and/or images are captured by one or more camera modules, the sensor output, e.g., distance sensor output, and/or captured images, e.g., optical image sensor output, are checked to determine if one or more of the sensors and/or camera modules are obstructed. When an obstruction of a sensor or camera module is detected, to make a user aware of the obstruction condition a visual and/or physical indication of an obstructed sensor or camera module is provided to the user of the camera device. The indication may include haptic feedback in the form of vibrations and/or a visual obstruction indication.
Methods and apparatus for controlling the read out of rows of pixel values from sensors corresponding to different optical chains used to capture portions of the same image area are described. The readout is controlled based on user input and/or determinations with regard to the rate of motion in captured images or portions of captured images. For a low rate of motion i, the readout rate of a sensor corresponding to a small focal length is slowed down while the pixel row readout rate of one or more sensors corresponding to one or more optical chains have larger focal lengths are allowed to proceed at a normal rate. For a high rate of motion, the read out rate of the sensor corresponding to the optical chain having the smaller focal length is allowed to proceed at the normal rate.
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
H04N 5/343 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p.ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en commutant entre différents modes de fonctionnement utilisant des résolutions ou des formats d'images différents, p.ex. entre un mode d'images fixes et un mode d'images vidéo ou entre un mode entrelacé et un mode non entrelacé
H04N 5/268 - Distribution ou commutation du signal
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G02B 13/02 - Télé-objectifs photographiques, c.-à-d. systèmes du type + — dans lesquels la distance du sommet de l'angle avant au plan de l'image est inférieure à la distance focale équivalente
G02B 15/00 - Objectifs optiques avec moyens de faire varier le grossissement
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
G02B 5/00 - Éléments optiques autres que les lentilles
H04N 5/345 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p.ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en lisant partiellement une matrice de capteurs SSIS
G02B 7/28 - Systèmes pour la génération automatique de signaux de mise au point
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
42.
Methods and apparatus for facilitating selective blurring of one or more image portions
Methods and apparatus provide for simulated, e.g., synthetic, aperture control. In some embodiments a user, after a camera autofocus or user selection of an object to focus on, sets a blur level and views the effect. Once the user controlled blur setting is complete, images are captured with the in-focus, e.g., autofocus, setting and other images are captured with the focus set to capture a blurred image based on the set blur level. In focus and out of focus images are captured in parallel using different camera modules in some embodiments. A composite image is generated by combining portions of one or more sharp and blurred images. Thus a user can capture portions of images with a desired level of blurriness without risking blurring other portions of an image while controlling how the captured images are combined to form a composite image with in-focus and blurred portions.
Methods and apparatus for compensating for motion and/or changing light conditions during image capture, e.g., in video, through use of multiple camera modules and/or images captured by multiple camera modules are described. During image capture time periods a plurality of camera modules capture images. During a first image capture time period a first camera module captures an image including a complete image of a user selected scene area of interest. During an additional image capture time period the first camera module captures an image including a portion of the scene area of interest; however, a portion of the scene area image is missing from the captured image, e.g., due to camera motion, occlusion and/or lighting conditions. Captured images from other camera modules and/or from during different image capture time periods which include the missing portion are identified and ranked; the highest ranked image is used in generating a composite image.
Methods and apparatus relating to a camera including one or more optical chains with a light redirection device, e.g., mirror, and an outer protective cover are described. The cover maybe a flat or sloped surface or a lens. Features avoid stray light rays from reaching an image sensor of an optical chain. In some but not all embodiments a 2-sided anti-reflection coating is used on the cover to avoid or reduce back reflections from the cover into the optical system. In some embodiments mirror angles are limited to a range in which stray light reflections are directed away from the camera module. In some embodiments a tilted cover configuration is used where the cover is sloped relative to a face of the camera and/or camera module. Different features such as the sloped cover glass, control of mirror angle, and/or antireflective coating can be used alone or in combination.
Methods and apparatus for supporting zoom operations using a plurality of optical chain modules, e.g., camera modules, are described. Switching between use of groups of optical chains with different focal lengths is used to support zoom operations. Digital zoom is used in some cases to support zoom levels corresponding to levels between the zoom levels of different optical chain groups or discrete focal lengths to which optical chains may be switched. In some embodiments optical chains have adjustable focal lengths and are switched between different focal lengths. In other embodiments optical chains have fixed focal lengths with different optical chain groups corresponding to different fixed focal lengths. Composite images are generate from images captured by multiple optical chains of the same group and/or different groups. Composite image is in accordance with a user zoom control setting. Individual composite images may be generated and/or a video sequence.
G02B 15/04 - Objectifs optiques avec moyens de faire varier le grossissement en modifiant, ajoutant ou retirant une partie de l'objectif, p. ex. objectifs transformables par changement d'une partie
G02B 26/00 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables
H04N 5/247 - Disposition des caméras de télévision
G02B 5/00 - Éléments optiques autres que les lentilles
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
46.
Camera device control related methods and apparatus
Various features for allowing a user to control a camera in an intuitive manner are described. Various features allow a user to control one or more camera settings via a touch screen. In some embodiments a rotating wheel is simulated on the display screen to show user selectable camera setting values with the values being displayed as if on the surface of the wheel with a currently selected value being closest to the user, e.g., in the center, and values above and below the currently selected value being shown using a smaller size as if further away from the user. A current setting for the feature being controlled is displayed near the center of the screen in some embodiments. A currently selected value is sometimes shown larger than other user selectable settings. The camera settings include an ISO setting, a focal length, e.g., zoom setting, and/or an exposure control setting.
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
G06F 3/0484 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] pour la commande de fonctions ou d’opérations spécifiques, p. ex. sélection ou transformation d’un objet, d’une image ou d’un élément de texte affiché, détermination d’une valeur de paramètre ou sélection d’une plage de valeurs
47.
Methods and apparatus for implementing zoom using one or more moveable camera modules
Methods and apparatus for implementing a camera device including multiple camera modules and which supports zoom operations are described. A plurality of moveable camera modules are included with the position of the moveable camera modules being controlled as a function of a zoom setting. One or more fixed camera modules are also included to facilitate image combining. A fixed camera module having a smaller focal length than the movable camera modules is used in some embodiments to capture a scene area including scene area portions which will be captured by movable camera modules. The image captured by the fixed camera module, with the small focal length, is used in aligning images captured by the movable camera modules during generation of a composite image. The camera may also include another fixed camera module, e.g., having the same focal length as the movable camera modules, for capturing the center of a scene.
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
H04N 5/247 - Disposition des caméras de télévision
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
Methods and apparatus for processing images captured by a camera device including multiple optical chains, e.g., camera modules, are described. Three, 4, 5 or more optical chains maybe used. Different optical chains capture different images due to different perspectives. Multiple images, e.g., corresponding to different perspectives, are captured during a time period and are combined to generate a composite image. In some embodiments one of the captured images or a synthesized image is used as a reference image during composite image generation. The image used as the reference image is selected to keep the perspective of sequentially generated composite images consistent despite unintentional came movement and/or in accordance with an expected path of travel. Thus, which camera module provides the reference image may vary over time taking into consideration unintended camera movement. Composite image generation may be performed external to the camera device or in the camera device.
H04N 5/247 - Disposition des caméras de télévision
H04N 5/77 - Circuits d'interface entre un appareil d'enregistrement et un autre appareil entre un appareil d'enregistrement et une caméra de télévision
Methods and apparatus, for mounting and using a filter over an image sensor are described as well as camera modules and apparatus incorporating the filter mount. Also described is a sensor and filter assembly which can be formed by combining the sensor, filter, filter mount, and a mounting board which can be shipped and integrated into a camera module and/or camera. A filter is placed in a filter well of a filter mount. By using a well to support the filter over a sensor, the top of the filter can be level or below the top of sidewalls of the filter mount. Use of a well to mount the filter reduces the risk of stray or unintentionally reflected light reaching the sensor and degrading captured images while protecting the filter from downward pressure or sideways contact.
Methods and apparatus for implementing optical chains, e.g., camera modules, which can be used in a camera device are described as well as camera devices including multiple camera modules. In various embodiments one or more camera modules include mirror assemblies which support a movable mirror. The mirror is driven in some embodiments by a linear actuator, e.g., piezo electric actuator with the linear motion of the actuator's push rod being converted into angular mirror rotation by use of hinge, e.g., pivot on which the mirror is mounted. A return spring provide a force contrary to that provided by the actuator. A recess is included in a mounting board to allow the bottom of the mirror or a portion of the mirror mounting hinge to be placed below the surface of the mounting board to which the camera module is secured.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
Various features relating to reducing and/or eliminating noise from images are described. In some embodiments depth based denoising is used on images captured by one or more camera modules based on depth information of a scene area and optical characteristics of the one or more camera modules used to captures the images. In some embodiments by taking into consideration the camera module optics and the depth of the object included in the image portion, a maximum expected frequency can be determined and the image portion is then filtered to reduce or remove frequencies above the maximum expected frequency. In this way noise can be reduced or eliminated from image portions captured by one or more camera modules. The optical characteristic of different camera modules may be different. In some embodiments a maximum expected frequency is determined on a per camera module and depth basis.
Methods and apparatus for capturing images using a camera device including multiple camera modules, e.g., multiple optical chains, in an efficient manner are described. Different camera devices in the camera device may capture images corresponding to different size fields of view of a scene area. User input is used to identify an object of interest. A first type camera module having a large field of view is used to track the identified object of interest. Sets of second type camera modules having a smaller field of view are used to capture images of the object of interest. Different sets of second type camera modules may be used at different times as a function of object of interest location. In some embodiments, at least some second type camera modules include the capability to adjust, e.g., move, image capture area, e.g., by changing a mirror angle inclination and/or a mirror rotation.
Methods and apparatus for reading out pixel values from sensors in a synchronized manner are described. Readout of rows of pixel values from different sensors are controlled so that pixel values of different sensors corresponding to the same portion of a scene are read out in a way that the same portions of a scene are captured at the same or nearly the same time by different sensors. In one embodiment a first sensor which captures a large scene area alternates between reading out rows of pixel values from a top portion and a bottom portion of the first sensor while sensors corresponding to smaller areas of the scene read out rows of pixel values in a consecutive manner. Sensors may read out rows of pixel values at the same rate despite corresponding to optical chains with different focal lengths. The image captured by the first sensor facilitates image combining.
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
H04N 5/345 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p.ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en lisant partiellement une matrice de capteurs SSIS
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
54.
Methods and apparatus relating to a camera including multiple optical chains
Camera methods and apparatus are described where the camera device includes multiple optical chains. In various embodiments two or more of the optical chains include light redirection devices such as mirrors or prisms. Sensors corresponding to multiple different optical chains, but not necessarily all optical chains, are parallel to each other. In some embodiments sensors corresponding to different optical chains are located in the same plane at the front or rear of the camera. However other sensor mounting positions are also possible.
A modular system includes a hub and a set of modules removably coupled to the hub. The modules are physically coupled to the frame relative to each other so that each module can operate with respect to a different row of a field. An individual module includes a sensor for capturing field measurement data of individual plants along a row as the modular system moves through the geographic region. An individual module further includes a treatment mechanism for applying a treatment to the individual plants of the row based on the field measurement data before the modular system passes by the individual plants. An individual module further includes a computing device that determines the treatment based on the field measurement data and communicates data to the hub. The hub is communicatively coupled to the modules, so that it may exchange data between the modules and with a remote computing system.
Methods and apparatus for controlling exposure in a camera device are described. A depth map is used in combination with user selection of a portion of scene as part of an exposure control operation. Exposure control is based on portions of the scene, e.g., in a local window surrounding the user selected point, at the same depth as the user selected portion of the scene with other portions of the scene being excluded from consideration when controlling exposure or being given less weight than the portion or portions at the same depth as the user selected scene portion. Color maybe and in some embodiments is used in combination with depth information to identify an object of interest identified by the user selection. The identified object is then used in some embodiments in making exposure control determinations with portions of a scene outside the object being ignored or given less weight in determining an exposure to be used than the portions corresponding to the identified object.
A camera device with a sensor which is mounted at an angle relative to a mounting surface or other reference surface is described. Camera modules, which include mirrors for light redirection, which are mounted at different angles in the camera device have sensors with different amounts of rotation. In some embodiments modules without mirrors use camera modules without rotated sensors while camera modules with mirrors may or may not use sensors which are rotated depending on the angle at which the modules are mounted in the camera device. By rotating the sensors of some camera modules rotation that maybe introduced by the angle at which a camera module is mounted can be offset. The images captured by different camera modules are combined in some embodiments without the need for computationally rotating an image thanks to the rotation of the sensor in the camera module used to capture the image.
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
In various embodiments a camera with multiple optical chains, e.g., camera modules, is controlled to operate in one of a variety of supported modes of operation. The modes include a non-motion mode, a motion mode, a normal burst mode and/or a reduced data burst mode. Motion mode is well suited for capturing an image including motion, e.g., moving object(s) with some modules being used to capture scene areas using a shorter exposure time than other modules and the captured images then being combined taking into consideration locations of motion. A reduced data burst mode is supported in some embodiments in which camera modules with different focal lengths capture images at different rates. While the camera modules of different focal length operate at different image capture rates in the reduced data burst mode, images are combined to support a desired composite image output rate, e.g., a desired frame rate.
In various embodiments a camera with multiple optical chains, e.g., camera modules, is controlled to operate in one of a variety of supported modes of operation. The modes include a non-motion mode, a motion mode, a normal burst mode and/or a reduced data burst mode. Motion mode is well suited for capturing an image including motion, e.g., moving object(s) with some modules being used to capture scene areas using a shorter exposure time than other modules and the captured images then being combined taking into consideration locations of motion. A reduced data burst mode is supported in some embodiments in which camera modules with different focal lengths capture images at different rates. While the camera modules of different focal length operate at different image capture rates in the reduced data burst mode, images are combined to support a desired composite image output rate, e.g., a desired frame rate.
A camera device includes multiple sensors with each sensor including an integrated multi-element filter. Because of the use of different filters in different sensors, a wide variety of filter patterns can be supported in a single camera device without the need for moveable or otherwise changeable filters. While multiple optical chains and sensors are included which sensors are used during a given time period are determined based on the whether a power save mode of operation is active and/or the image capture mode being used. Fewer optical chains are used during power save mode for capturing images corresponding to the image mode in use, e.g., color, IR, or monochrome. While the camera device may include a large number of optical modules, e.g., 4, 10 or more, in some embodiments sensors of optical chains not selected for use during a given time period are intentionally powered down to conserve power.
H04N 9/083 - Générateurs de signaux d'image avec une seule tête de lecture dans lequel les signaux de couleur sont caractérisés par leur fréquence
H04N 3/14 - Détails des dispositifs de balayage des systèmes de télévisionLeur combinaison avec la production des tensions d'alimentation par des moyens non exclusivement optiques-mécaniques au moyen de dispositifs à l'état solide à balayage électronique
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
The present application relates to image capture and generation methods and apparatus and, more particularly, to methods and apparatus which detect and/or indicate a dirty lens condition. One embodiment of the present invention includes a method of operating a camera including the steps of capturing a first image using a first lens of the camera; determining, based on at least the first image, if a dirty camera lens condition exists; and in response to determining that a dirty lens condition exists, generating a dirty lens condition notification or initiating an automatic camera lens cleaning operation. In some embodiments multiple captured images with overlapping image regions are compared to determine if a dirty lens condition exists.
Methods and apparatus relating to capturing images of a scene area in a synchronized manner using a plurality of optical chains are described. In various embodiments image sensors corresponding to the plurality of optical chains of a camera are operated in rolling shutter mode to read out rows of pixel values corresponding to a current scan position when the image sensors have a row of pixel values corresponding to the current scan position. In some embodiments a scene area of interest is captured by initiating a scan and thus image capture of the scene area by one or more optical chains which are operated in a coordinated manner. In some embodiments a controller controls the plurality of image sensors to perform a read out of pixel values in a synchronized manner, e.g., with rows of pixel values being read out sequentially in accordance with operation of a rolling shutter implementation.
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G03B 13/36 - Systèmes de mise au point automatique
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G03B 5/00 - Réglage du système optique relatif à l'image ou à la surface du sujet, autre que pour la mise au point présentant un intérêt général pour les appareils photographiques, les appareils de projection ou les tireuses
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G03B 37/04 - Photographie panoramique ou à grand écranPhotographie de surfaces étendues, p. ex. pour la géodésiePhotographie de surfaces internes, p. ex. de tuyaux avec appareils ou projecteurs qui permettent la juxtaposition ou le recouvrement partiel des champs de vision
64.
Methods and apparatus for capturing and/or combining images
In various embodiments light redirection device positions of one or more optical chains are moved between image capture times while the position of the camera device including the multiple optical chains remains fixed. The sequentially captured images are combined to form a larger image than is captured during a single time period. Multiple optical chains are used in parallel, each with its own image sensor and light redirection device, in some embodiments. Depth information may and in some embodiments is generated and used to combine the images in a manner intended to minimize or avoid parallax distortions in the composite image which is produced.
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
G02B 7/182 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs pour miroirs
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G03B 5/00 - Réglage du système optique relatif à l'image ou à la surface du sujet, autre que pour la mise au point présentant un intérêt général pour les appareils photographiques, les appareils de projection ou les tireuses
G03B 13/36 - Systèmes de mise au point automatique
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G03B 37/04 - Photographie panoramique ou à grand écranPhotographie de surfaces étendues, p. ex. pour la géodésiePhotographie de surfaces internes, p. ex. de tuyaux avec appareils ou projecteurs qui permettent la juxtaposition ou le recouvrement partiel des champs de vision
65.
Methods and apparatus for implementing a camera device supporting a number of different focal lengths
Methods and apparatus for using optical chains, e.g., camera modules, with different lens configurations to support a wide range of focal lengths are described. In some embodiments a camera device includes a plurality of optical chains. In at least some embodiments non-circular outer lenses are used for optical chains with large focal lengths while optical chains of the same camera device which have smaller focal lengths use round outer lenses. Thus an exemplary camera device supports a number of different focal lengths.
G03B 13/00 - ViseursAuxiliaires de mise au point pour appareils photographiquesMoyens de mise au point pour appareils photographiquesSystèmes de mise au point automatique pour appareils photographiques
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G03B 13/36 - Systèmes de mise au point automatique
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G03B 5/00 - Réglage du système optique relatif à l'image ou à la surface du sujet, autre que pour la mise au point présentant un intérêt général pour les appareils photographiques, les appareils de projection ou les tireuses
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G03B 37/04 - Photographie panoramique ou à grand écranPhotographie de surfaces étendues, p. ex. pour la géodésiePhotographie de surfaces internes, p. ex. de tuyaux avec appareils ou projecteurs qui permettent la juxtaposition ou le recouvrement partiel des champs de vision
66.
Methods and apparatus for capturing images and/or for using captured images
Methods and apparatus relating to image capture of image portions using optical chains with different focal lengths are described. In some embodiments different portions of a scene area of interest captured by different optical chains operating in parallel are combined. The combining in some embodiments is performed using depth information generated from two images captured by two different optical chains which capture at least some common overlapping portions of the scene area of interest. The depth information maybe generated using an image of the entire scene and one or more other images of the scene or portions of the scene area of interest. The use of multiple optical chains in parallel facilitates generation of an image with a higher overall pixel count than would be possible using a single sensor of one of the optical chains and/or with more light capture than would be captured using a single optical chain.
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G03B 5/00 - Réglage du système optique relatif à l'image ou à la surface du sujet, autre que pour la mise au point présentant un intérêt général pour les appareils photographiques, les appareils de projection ou les tireuses
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
G03B 13/36 - Systèmes de mise au point automatique
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
G03B 37/04 - Photographie panoramique ou à grand écranPhotographie de surfaces étendues, p. ex. pour la géodésiePhotographie de surfaces internes, p. ex. de tuyaux avec appareils ou projecteurs qui permettent la juxtaposition ou le recouvrement partiel des champs de vision
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
Methods and apparatus relating to controlling optical chains (OCs) of a camera device to scan a scene area of interest, thereby capturing images of the scene area, in a synchronized manner are described. In various embodiments a synchronized rolling shutter read out of two or more image sensors included in two or more corresponding OCs is implemented controlling the sensors to read out rows of pixel values corresponding to a portion of the scene at the same time, e.g., concurrently. While two or more of the OCs are controlled to read out at the same time, some other OCs in the camera maybe controlled not to read out pixel values while other image sensors are reading out. In various embodiments the read out rate of the two or more sensors corresponding to two or more optical chains is controlled as a function of the focal lengths of the corresponding OCs.
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 7/04 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G03B 13/36 - Systèmes de mise au point automatique
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G03B 5/00 - Réglage du système optique relatif à l'image ou à la surface du sujet, autre que pour la mise au point présentant un intérêt général pour les appareils photographiques, les appareils de projection ou les tireuses
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G02B 7/10 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour lentilles avec mécanisme de mise au point ou pour faire varier le grossissement par déplacement axial relatif de plusieurs lentilles, p. ex. lentilles d'objectif à distance focale variable
G03B 37/04 - Photographie panoramique ou à grand écranPhotographie de surfaces étendues, p. ex. pour la géodésiePhotographie de surfaces internes, p. ex. de tuyaux avec appareils ou projecteurs qui permettent la juxtaposition ou le recouvrement partiel des champs de vision
Illumination methods and apparatus are described. In some embodiments a lighting device includes one or more lighting modules. At least some but not necessarily all lighting modules include a light source, e.g., LED or bulb, a collimating lens positioned in front of said light source for generating a beam of light from light output by said light source and a beam flattening lens for flattening the beam of light in at least a first direction as it passes through the first beam flattening lens. In some but not necessarily all embodiments lighting modules are controlled based on which portion of a scene is being captured at a point in time thereby avoiding the need to illuminate the entire scene for the full duration of an image capture period. The lighting device may be used in combination with a rolling shutter and a sensor used to capture one or more images.
Zoom and focus control user interface methods and apparatus are described. Acceleration is monitored and interpreted to detect camera motion. Acceleration indicative of camera motion in a forward or backward direction is used to control zoom in or zoom out operations when a zoom function is enabled. The zoom function can be enabled by touching a touch sensor or pressing a button. Thus, by activating the zoom function and making intuitive movements forward or backward which can be detected through the use of sensors, a user can control zoom in and zoom out operations in an intuitive manner with little risk of shaking the camera or interfering with image capture that might occur if a touch display or other zoom control was used to control zoom operation while capturing one or more images. The zoom control function is well suited for use with still cameras and video cameras.
H04N 5/262 - Circuits de studio, p. ex. pour mélanger, commuter, changer le caractère de l'image, pour d'autres effets spéciaux
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
F16M 13/04 - Autres supports ou appuis pour positionner les appareils ou les objetsMoyens pour maintenir en position les appareils ou objets tenus à la main pour être portés par une personne ou pour maintenir fixe par rapport à une personne, p. ex. par des chaînes
A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image; automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification.
Methods and apparatus that facilitate or implement focus control in a camera and/or can be used to set the camera focus distance, e.g., the distance between the camera and an object which will appear in focus when the objects picture is taken by the camera. A depth map is generated for an image area, e.g., an area corresponding to an image which is captured by the camera. Based on said depth map, in various exemplary embodiments, a visual indication of which portions of an image captured by the camera device are in focus is generated. A user may indicate a change in the desired focus distance by touching a portion of the screen corresponding to an object at the desired focus distance or by varying a slider or other focus distance control.
Methods and apparatus for supporting zoom operations using a plurality of optical chain modules, e.g., camera modules, are described. Switching between use of groups of optical chains with different focal lengths is used to support zoom operations. Digital zoom is used in some cases to support zoom levels corresponding to levels between the zoom levels of different optical chain groups or discrete focal lengths to which optical chains may be switched. In some embodiments optical chains have adjustable focal lengths and are switched between different focal lengths. In other embodiments optical chains have fixed focal lengths with different optical chain groups corresponding to different fixed focal lengths. Composite images are generate from images captured by multiple optical chains of the same group and/or different groups. Composite image is in accordance with a user zoom control setting. Individual composite images may be generated and/or a video sequence.
G02B 15/04 - Objectifs optiques avec moyens de faire varier le grossissement en modifiant, ajoutant ou retirant une partie de l'objectif, p. ex. objectifs transformables par changement d'une partie
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
73.
Methods and apparatus relating to image stabilization
Methods and apparatus for processing images captured by a camera device including multiple optical chains, e.g., camera modules, are described. Three, 4, 5 or more optical chains maybe used. Different optical chains capture different images due to different perspectives. Multiple images, e.g., corresponding to different perspectives, are captured during a time period and are combined to generate a composite image. In some embodiments one of the captured images or a synthesized image is used as a reference image during composite image generation. The image used as the reference image is selected to keep the perspective of sequentially generated composite images consistent despite unintentional came movement and/or in accordance with an expected path of travel. Thus, which camera module provides the reference image may vary over time taking into consideration unintended camera movement. Composite image generation may be performed external to the camera device or in the camera device.
H04N 5/247 - Disposition des caméras de télévision
H04N 5/77 - Circuits d'interface entre un appareil d'enregistrement et un autre appareil entre un appareil d'enregistrement et une caméra de télévision
Methods and apparatus for processing images captured by a camera device including multiple optical chains, e.g., camera modules, are described. Three, 4, 5 or more optical chains maybe used. Different optical chains capture different images due to different perspectives. Multiple images, e.g., corresponding to different perspectives, are captured during a time period and are combined to generate a composite image. In some embodiments one of the captured images or a synthesized image is used as a reference image during composite image generation. The image used as the reference image is selected to keep the perspective of sequentially generated composite images consistent despite unintentional came movement and/or in accordance with an expected path of travel. Thus, which camera module provides the reference image may vary over time taking into consideration unintended camera movement. Composite image generation may be performed external to the camera device or in the camera device.
Camera methods and apparatus are described where the camera device includes multiple optical chains. In various embodiments two or more of the optical chains include light redirection devices such as mirrors or prisms. Sensors corresponding to multiple different optical chains, but not necessarily all optical chains, are parallel to each other. In some embodiments sensors corresponding to different optical chains are located in the same plane at the front or rear of the camera. However other sensor mounting positions are also possible.
Methods and apparatus for supporting zoom operations using a plurality of optical chain modules, e.g., camera modules, are described. Switching between use of groups of optical chains with different focal lengths is used to support zoom operations. Digital zoom is used in some cases to support zoom levels corresponding to levels between the zoom levels of different optical chain groups or discrete focal lengths to which optical chains may be switched. In some embodiments optical chains have adjustable focal lengths and are switched between different focal lengths. In other embodiments optical chains have fixed focal lengths with different optical chain groups corresponding to different fixed focal lengths. Composite images are generate from images captured by multiple optical chains of the same group and/or different groups. Composite image is in accordance with a user zoom control setting. Individual composite images may be generated and/or a video sequence.
G02B 15/04 - Objectifs optiques avec moyens de faire varier le grossissement en modifiant, ajoutant ou retirant une partie de l'objectif, p. ex. objectifs transformables par changement d'une partie
G02B 26/00 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables
H04N 5/247 - Disposition des caméras de télévision
Methods and apparatus for controlling the read out of rows of pixel values from sensors corresponding to different optical chains used to capture portions of the same image area are described. The readout is controlled based on user input and/or determinations with regard to the rate of motion in captured images or portions of captured images. For a low rate of motion i, the readout rate of a sensor corresponding to a small focal length is slowed down while the pixel row readout rate of one or more sensors corresponding to one or more optical chains have larger focal lengths are allowed to proceed at a normal rate. For a high rate of motion, the read out rate of the sensor corresponding to the optical chain having the smaller focal length is allowed to proceed at the normal rate.
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
H04N 5/343 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p.ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en commutant entre différents modes de fonctionnement utilisant des résolutions ou des formats d'images différents, p.ex. entre un mode d'images fixes et un mode d'images vidéo ou entre un mode entrelacé et un mode non entrelacé
H04N 5/268 - Distribution ou commutation du signal
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G02B 13/02 - Télé-objectifs photographiques, c.-à-d. systèmes du type + — dans lesquels la distance du sommet de l'angle avant au plan de l'image est inférieure à la distance focale équivalente
G02B 15/00 - Objectifs optiques avec moyens de faire varier le grossissement
Methods and apparatus relating to image capture of image portions using optical chains with non-parallel optical axis are described. In some embodiments different portions of a scene area of interest captured by different optical chains operating in parallel are combined. The use of multiple optical chains in parallel facilitates generation of an image with a higher overall pixel count than would be possible using a single sensor of one of the optical chains and/or with more light capture than would be captured using a single one of the optical chains.
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
H04N 5/343 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p.ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en commutant entre différents modes de fonctionnement utilisant des résolutions ou des formats d'images différents, p.ex. entre un mode d'images fixes et un mode d'images vidéo ou entre un mode entrelacé et un mode non entrelacé
H04N 5/268 - Distribution ou commutation du signal
H04N 5/335 - Transformation d'informations lumineuses ou analogues en informations électriques utilisant des capteurs d'images à l'état solide [capteurs SSIS]
H04N 5/378 - Circuits de lecture, p.ex. circuits d’échantillonnage double corrélé [CDS], amplificateurs de sortie ou convertisseurs A/N
G02B 13/02 - Télé-objectifs photographiques, c.-à-d. systèmes du type + — dans lesquels la distance du sommet de l'angle avant au plan de l'image est inférieure à la distance focale équivalente
G02B 15/00 - Objectifs optiques avec moyens de faire varier le grossissement
A method for plant treatment, including : receiving a first measurement for a plant from a sensor as the sensor moves within a geographic area comprising a plurality of plants; in response to receipt of the first measurement and prior to receipt of a second measurement for a second plant of the plurality, determining a set of treatment mechanism operation parameters for the plant to optimize a geographic area output parameter based on the first measurement and historical measurements for the geographic area; determining an initial treatment parameter for the plant; and operating a treatment mechanism in a treatment mode based on the set of operating parameters in response to satisfaction of the initial treatment parameter.
A system for plant parameter detection, including: a plant morphology sensor having a first field of view and configured to record a morphology measurement of a plant portion and an ambient environment adjacent the plant, a plant physiology sensor having a second field of view and configured to record a plant physiology parameter measurement of a plant portion and an ambient environment adjacent the plant, wherein the second field of view overlaps with the first field of view; a support statically coupling the plant morphology sensor to the physiology sensor, and a computing system configured to: identify a plant set of pixels within the physiology measurement based on the morphology measurement; determine physiology values for each pixel of the plant set of pixels; and extract a growth parameter based on the physiology values.
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
G02B 13/00 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
83.
Methods and apparatus for using multiple optical chains in parallel to support separate color-capture
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
G02B 7/18 - Montures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour prismesMontures, moyens de réglage ou raccords étanches à la lumière pour éléments optiques pour miroirs
G03B 17/17 - Corps d'appareils avec des réflecteurs disposés sur le parcours lumineux formant l'image photographique, p. ex. pour réduire les dimensions de l'appareil photographique
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
G02B 17/00 - Systèmes avec surfaces réfléchissantes, avec ou sans éléments de réfraction
Methods and apparatus for capturing or generating images using multiple optical chains operating in parallel are described. Pixel values captured by individual optical chains corresponding to the same scene area are combined to provide an image with at least some of the benefits which would have been provided by capturing an image of the scene using a larger lens than that of the individual lenses of the optical chain modules. By using multiple optical chains in parallel at least some benefits normally obtained from using a large lens can be obtained without the need for a large lens. Furthermore in at least some embodiments, a wide dynamic range can be supported through the use of multiple sensors with the overall supported dynamic range being potentially larger than that of the individual sensors. Some lens and/or optical chain configurations are designed for use in small handheld devices, e.g., cell phones.
H04N 5/235 - Circuits pour la compensation des variations de la luminance de l'objet
G06T 11/60 - Édition de figures et de texteCombinaison de figures ou de texte
G02B 13/22 - Objectifs ou systèmes de lentilles télécentriques
G02B 13/16 - Objectifs optiques spécialement conçus pour les emplois spécifiés ci-dessous à utiliser en combinaison avec des convertisseurs ou des amplificateurs d'image
A method of real-time plant selection and removal from a plant field including capturing a first image of a first section of the plant field, segmenting the first image into regions indicative of individual plants within the first section, selecting the optimal plants for retention from the first image based on the first image and the previously thinned plant field sections, sending instructions to the plant removal mechanism for removal of the plants corresponding to the unselected regions of the first image from the second section before the machine passes the unselected regions, and repeating the aforementioned steps for a second section of the plant field adjacent the first section in the direction of machine travel.
A detection system (210) detects malfunctions in an autonomous farming vehicle during an autonomous routine using one or more models and data from sensors (220) coupled to the autonomous farming vehicle. The models may include machine-learned models (310) trained on the sensor data and configured to identify objects indicative of an operational or malfunctioning component within a tilling assembly such as a tilling shank (350) or sweep (360). Additionally, a machine-learned model may be trained on sensor data to detect whether debris has plugged the tilling assembly of the autonomous farming vehicle (370). In response to detecting a malfunction or a plug, the detection system may modify the autonomous routine (e.g., pausing operation) or provide information for the malfunction to be addressed (e.g., the likely location of a malfunctioning sweep that has detached from the tilling assembly).
A01B 49/06 - Combinaisons d'outils de travail de la terre et d'outils non destinés au travail de la terre, tels que des plantoirs pour semer ou répandre des engrais
