Automatic Robotically Steered Sensor for Targeted High Performance Perception and Vehicle Control
Disclosed are methods, systems, and non-transitory computer readable media that control an autonomous vehicle via at least two sensors. One aspect includes capturing an image of a scene ahead of the vehicle with a first sensor, identifying an object in the scene at a confidence level based on the image, determining the confidence level of the identifying is below a threshold, in response to the confidence level being below the threshold, directing a second sensor having a field of view smaller than the first sensor to generate a second image including a location of the identified object, further identifying the object in the scene based on the second image, controlling the vehicle based on the further identification of the object.
1 . A method of controlling a vehicle, the method comprising:
determining, based on an attempt to identify an object in a first image, a capture location of the object;
directing a sensor to capture a second image of the object at the capture location of the object, wherein the sensor synchronizes an active illumination device to illuminate a field of corresponding to the capture location;
identifying the object based on the second image; and
controlling the vehicle based on identifying the object.
2 . The method of claim 1 , comprising:
determining an orientation of the vehicle relative to the capture location of the object; and
determining the capture location based on the orientation of the vehicle.
3 . The method of claim 1 , comprising:
determining a speed associated with the vehicle; and
determining the capture location based on the speed associated with the vehicle.
4 . The method of claim 1 , comprising:
determining a time to direct the sensor to a position associated with the capture location; and
directing the sensor based on the time.
5 . The method of claim 1 , comprising capturing the first image using another sensor.
6 . The method of claim 5 , wherein the other sensor is associated with at least one of: a different field of view or a different resolution from the sensor.
7 . The method of claim 1 , wherein the attempt to identify the object in the first image is associated with a probability of identifying the object in the first image.
8 . A vehicle comprising:
a sensor;
one or more processors; and
one or more non-transitory computer-readable media that store instructions executable by the one or more processors to cause the one or more processors to perform operations, the operations comprising:
determining, based on an attempt to identify an object in a first image, a capture location of the object;
directing the sensor to capture a second image of the object at the capture location of the object, wherein the sensor synchronizes an active illumination device to illuminate a field of view corresponding to the capture location;
identifying the object based on the second image; and
controlling the vehicle based on identifying the object.
9 . The vehicle of claim 8 , wherein the operations comprise:
determining an orientation of the vehicle relative to the capture location of the object; and
determining the capture location based on the orientation of the vehicle.
10 . The vehicle of claim 8 , wherein the operations comprise:
determining a speed associated with the vehicle; and
determining the capture location based on the speed associated with the vehicle.
11 . The vehicle of claim 8 , wherein the operations comprise:
determining a time to direct the sensor to a position associated with the capture location; and
directing the sensor based on the time.
12 . The vehicle of claim 8 , wherein the operations comprise capturing the first image using another sensor.
13 . The vehicle of claim 12 , wherein the other sensor is associated with at least one of: a different field of view or a different resolution from the sensor.
14 . The vehicle of claim 8 , wherein the attempt to identify the object in the first image is associated with a probability of identifying the object in the first image.
15 . A computing system for controlling a vehicle comprising:
one or more processors; and
one or more non-transitory computer-readable media that store instructions executable by the one or more processors to cause the one or more processors to perform operations, the operations comprising:
determining, based on an attempt to identify an object in a first image, a capture location of the object;
directing a sensor to capture a second image of the object at the capture location of the object, wherein the sensor synchronizes an active illumination device to illuminate a field of view corresponding to the capture location;
identifying the object based on the second image; and
controlling the vehicle based on identifying the object.
16 . The computing system of claim 15 , wherein the operations comprise:
determining an orientation of the vehicle relative to the capture location of the object; and
determining the capture location based on the orientation of the vehicle.
17 . The computing system of claim 15 , wherein the operations comprise:
determining a speed associated with the vehicle; and
determining the capture location based on the speed associated with the vehicle.
18 . The computing system of claim 15 , wherein the operations comprise:
determining a time to direct the sensor to a position associated with the capture location; and
directing the sensor based on the time.
19 . The computing system of claim 15 , wherein the operations comprise capturing the first image using another sensor.
20 . The computing system of claim 19 , wherein the other sensor is associated with at least one of: a different field of view or a different resolution from the sensor.