Dynamic matrix filter for vehicle image sensor

1. A method comprising:

detecting, by one or more processors of a filter controller, a region of interest in a field of view of an image sensor of an autonomous vehicle (AV) system;

selecting, by the one or more processors of the filter controller, a target region in the field of view of the image sensor based on the region of interest in the field of view;

determining a first optical density for a first sub-region within the target region;

determining a second optical density for a second sub-region within the target region;

adjusting, by a dynamic matrix filter coupled to the image sensor, a first portion of the dynamic matrix filter corresponding to the first sub-region to the first optical density and a second portion of the dynamic matrix filter corresponding to the second sub-region to the second optical density; and

after adjusting the dynamic matrix filter, generating image data with the image sensor, image data.

2. The method of claim 1 , wherein the detecting of the region of interest comprises:

accessing map data comprising a map of an area that is a current location of the AV system;

accessing vehicle pose data comprising a position and an orientation of the AV system; and

determining the region of interest in the field of view of the image sensor based on the map data and vehicle pose data.

3. The method of claim 2 , wherein the selecting of the target region in the field of view of the image sensor comprises:

selecting a remaining region in the field of view of the image sensor as the target region, the remaining region excluding the region of interest.

4. The method of claim 1 , wherein:

the image data is second image data;

the detecting of the region of interest in the field of view of the image sensor comprises analyzing first image data to identify a saturated region, the first image data being generated prior to the adjusting of the dynamic matrix filter; and

the selecting of the target region comprises mapping the saturated region in the first image data to the target region in the field of view of the image sensor.

5. The method of claim 4 ,

the method further comprising:

determining that a saturation of the saturated region in the second image data satisfies a saturation condition; and

adjusting, by the dynamic matrix filter, at least the first portion of the dynamic matrix filter to a modified optical density different than the first optical density.

6. The method of claim 1 , further comprising:

generating, by the filter controller, a control signal that causes the dynamic matrix filter to apply the first optical density to the first portion of the dynamic matrix filter; and

transmitting, by the filter controller, the control signal to the dynamic matrix filter.

7. The method of claim 1 , wherein the adjusting comprises changing an optical density of the first portion of the dynamic matrix filter from a default optical density to the first optical density.

8. The method of claim 1 , wherein the adjusting comprises increasing an optical density of the first portion of the dynamic matrix filter.

9. The method of claim 7 , further comprising:

detecting, by the one or more processors of the filter controller, a termination event; and

based on detecting the termination event, causing the dynamic filter to set the first portion of the dynamic matrix filter to the default optical density.

10. A system comprising:

an image sensor to generate first image data comprising a depiction of a real-world scene that is visible within a field of view of the image sensor;

a dynamic filter positioned in a field of view of the image sensor, the dynamic filter comprising an array of filter elements having an adjustable optical density; and

a filter controller comprising one or more processors, the filter controller to perform operations comprising:

detecting a region of interest in the field of view of the image sensor;

selecting a target region in the field of view of the image sensor based on the region of interest;

determining a first optical density for a first sub-region within the target region;

determining a second optical density for a second sub-region within the target region;

causing an adjustment to the dynamic filter, the adjustment resulting in a first portion of the array of filter elements corresponding to the first sub-region having the first optical density and a second portion of the array of filter elements corresponding to the second sub-region having the second optical density different than the first optical density; and

and

the image sensor to generate second image data after the adjustment to the dynamic filter.

11. The system of claim 10 , further comprising:

mapping the target region in the field of view of the image sensor to at least the first portion of the array of filter elements.

12. The system of claim 10 , wherein the detecting of the region of interest in the field of view of the image sensor comprises:

accessing map data comprising a map of an area that includes the real-world scene and information describing one or more features of the area;

accessing vehicle pose data comprising a position and an orientation of an autonomous vehicle system; and

determining the region of interest based on the map data and vehicle pose data.

13. The system of claim 11 , wherein the selecting of the target region in the field of view of the image sensor comprises:

selecting a remaining region in the field of view of the image sensor that excludes the region of interest.

14. The system of claim 13 , wherein:

the detecting of the region of interest in the field of view of the image sensor comprises analyzing the first image data to identify a saturated region; and

the selecting of the target region comprises mapping the saturated region in the first image data to the target region in the field of view of the image sensor.

15. A dynamic filter comprising:

an array of filter elements positioned in a field of view of an image sensor, each filter element in the array of filter elements having an adjustable optical density, the image sensor to generate image data depicting a real-world scene; and

a filter controller comprising one or more processors, the filter controller being programmed to perform operations comprising:

detecting a region of interest in the field of view of the image sensor;

selecting a target region in the field of view of the image sensor based on the region of interest;

determining a first optical density for a first sub-region within the target region;

determining a second optical density for a second sub-region within the target region; and

causing an adjustment to the dynamic filter, the adjustment resulting in a first portion of the array of filter elements corresponding to the first sub-region having the first optical density and a second portion of the array of filter elements corresponding to the second sub-region having the second optical density different than the first optical density.

16. The dynamic filter of claim 15 , wherein:

the image sensor comprises a focal plane array; and

the optical density of the first portion of the array of filter elements is increased based in part on a mapping of the first portion of the array of filter elements in the focal plane array that correspond to the target region of the field of view of the image sensor.

17. The dynamic filter of claim 16 , wherein the image sensor further comprises a lens system, wherein the array of filter elements is positioned between the lens system and the focal plane array.

18. The dynamic filter of claim 16 , wherein the image sensor further comprises a lens system, wherein the array of filter elements is positioned between the real-world scene and the lens system.