Images for perception modules of autonomous vehicles
Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.
1. A method for processing an image, comprising:
receiving an image including an array of pixels from a sensor, each pixel in the array of pixels having a value selected from one of three primary colors based on a corresponding position value in a mask pattern;
generating a preprocessed image by performing preprocessing on the image, wherein the preprocessing excludes a reduction of salt and pepper noise, or another reduction of Gaussian noise; and
performing perception on the preprocessed image.
2. The method of claim 1 , wherein the mask pattern is a Bayer pattern.
3. The method of claim 2 , wherein the Bayer pattern is a red-green-green-blue pattern assigned to a 2-pixel by 2-pixel array repeated across a raw image.
4. The method of claim 1 , wherein the mask pattern includes a greater number of green pixel values than both red and blue.
5. The method of claim 1 , wherein the mask pattern is selected such that a value of every other pixel along a row in a reduced image corresponds to green value of a raw image.
6. The method of claim 1 , wherein the mask pattern is selected such that a value of every other pixel along a column in a reduced image corresponds to a green value of a raw image.
7. The method of claim 1 , wherein, each position value in the mask pattern is from one of three possible values.
8. The method of claim 1 , wherein the image is generated using one or more color-selective filters.
9. The method of claim 1 , wherein the preprocessing is performed on the image from the sensor without human perception image enhancement.
10. The method of claim 9 , wherein the human perception image enhancement includes one or more of de-mosaicing, white balancing, and noise reduction.
11. The method of claim 1 , wherein the preprocessing excludes scaling for white balancing.
12. The method of claim 1 , wherein the preprocessing excludes reconstruction of a full color image from incomplete color samples output from the sensor overlaid with a color filter for de-mosaicing.
13. An apparatus comprising:
at least one processor and memory including executable instructions that when executed perform operations comprising:
receiving an image including an array of pixels from a sensor, each pixel in the array of pixels having a value selected from one of three primary colors based on a corresponding position value in a mask pattern;
generating a preprocessed image by performing preprocessing on the image, wherein the preprocessing excludes a reduction of salt and pepper noise, or another reduction of Gaussian noise; and
performing perception of the preprocessed image.
14. The apparatus of claim 13 , wherein the mask pattern is a Bayer pattern.
15. The apparatus of claim 14 , wherein the Bayer pattern is a red-green-green-blue pattern assigned to a 2-pixel by 2-pixel array repeated across a raw image.
16. The apparatus of claim 13 , wherein the mask pattern includes a greater number of green pixel values than both red and blue.
17. The apparatus of claim 13 , wherein the at least one processor selects the mask pattern such that a value of every other pixel along a row in a reduced image corresponds to a green value of a raw image.
18. A non-transitory computer readable medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising:
receiving an image including an array of pixels from a sensor, each pixel in the array of pixels having a value selected from one of three primary colors based on a corresponding position value in a mask pattern; and
performing perception on a preprocessed image that excludes a reduction of salt and pepper noise, or another reduction of Gaussian noise.
19. The non-transitory computer readable medium of claim 18 , wherein preprocessing is performed on the image from the sensor without human perception image enhancement.
20. The method of claim 1 , wherein the performing the perception on the preprocessed image determines one or more outlines of objects.