Adjustable vertical field of view
Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.
1. A method comprising:
receiving, at a computing device, sensor data from a first sensor coupled to a vehicle, wherein the vehicle is operating in an environment;
based on the sensor data from the first sensor, adjusting, by the computing device, a cell grid for a second sensor into one or more enabled cell rows and one or more disabled cell rows, wherein the second sensor is coupled to the vehicle;
generating, using the second sensor, image data via sampling the one or more enabled cell rows without sampling the one or more disabled cell rows; and
mapping a portion of the environment using the image data.
2. The method of claim 1 , wherein receiving sensor data from the first sensor coupled to the vehicle comprises:
receiving sensor data from an inertial measurement unit (IMU).
3. The method of claim 2 , wherein receiving sensor data from the MU comprises:
receiving sensor data indicative of a grade measurement for a road that the vehicle is operating upon.
4. The method of claim 3 , wherein adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows comprises:
adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows based on the grade measurement for the road that the vehicle is operating upon.
5. The method of claim 1 , wherein receiving sensor data from the first sensor coupled to the vehicle comprises:
receiving location data for the vehicle from a Global Positioning System (GPS) receiver coupled to the vehicle; and
identifying map data based on the location data for the vehicle.
6. The method of claim 5 , wherein adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows comprises:
adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows based on the map data.
7. The method of claim 1 , wherein receiving sensor data from the first sensor coupled to the vehicle comprises:
receiving radar data from a radar unit coupled to the vehicle, wherein the radar data indicates a position of a road boundary relative to the vehicle; and
wherein adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows comprises:
adjusting the cell grid for the second sensor such that the image data depicts the road boundary.
8. The method of claim 1 , wherein generating, using the second sensor, image data via sampling the one or more enabled cell rows without sampling the one or more disabled cell rows comprises:
causing a rolling shutter to incrementally sample the one or more enabled cell rows.
9. The method of claim 8 , wherein causing the rolling shutter to incrementally sample the one or more enabled cell rows comprises:
causing the rolling shutter to incrementally sample cells from the one or more enable cell rows according to a plurality of vertical columns of the cell grid such that all enabled cells in a given vertical column are sampled simultaneously.
10. The method of claim 1 , wherein adjusting the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows comprises:
adjusting the cell grid for a CMOS image sensor.
11. A system comprising:
a first sensor coupled to a vehicle, wherein the vehicle is operating in an environment;
a second sensor coupled to the vehicle; and
a computing device configured to:
receive sensor data from the first sensor;
based on the sensor data from the first sensor, adjust a cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows, wherein the second sensor is coupled to the vehicle;
generate, using the second sensor, image data via sampling the one or more enabled cell rows without sampling the one or more disabled cell rows; and
map a portion of the environment using the image data.
12. The system of claim 11 , wherein the first sensor is a camera and the second sensor is a CMOS image sensor.
13. The system of claim 11 , wherein the first sensor is an Inertial Measurement Unit (IMU), and wherein sensor data from the IMU indicates a grade measurement for a road that the vehicle is operating upon.
14. The system of claim 13 , wherein the computing device is configured to adjust the cell grid for the second sensor into one or more enabled cell rows and one or more disabled cell rows based on the grade measurement for the road that the vehicle is operating upon.
15. The system of claim 11 , wherein the second sensor comprises:
a light sensor having the cell grid; and
an optical system configured to provide the light sensor with a field of view of the environment.
16. The system of claim 11 , wherein the second sensor comprises a rolling shutter, and wherein the rolling shutter is configured to incrementally sample the one or more enabled cell rows without sampling the one or more disabled cell rows.
17. The system of claim 16 , wherein the rolling shutter is further configured to incrementally sample cells from the one or more enable cell rows according to a plurality of vertical columns of the cell grid such that all enabled cells in a given vertical column are sampled simultaneously.
18. A non-transitory computer-readable medium configured to store instructions, that when executed by a computing system comprising one or more processors, causes the computing system to perform operations comprising:
receiving sensor data from a first sensor coupled to a vehicle, wherein the vehicle is operating in an environment;
based on the sensor data from the first sensor, adjusting a cell grid for a second sensor into one or more enabled cell rows and one or more disabled cell rows, wherein the second sensor is coupled to the vehicle;
generating, using the second sensor, image data via sampling the one or more enabled cell rows without sampling the one or more disabled cell rows; and
mapping a portion of the environment using the image data.
19. The non-transitory computer-readable medium of claim 18 , wherein receiving sensor data from the first sensor coupled to the vehicle comprises:
receiving sensor data from an inertial measurement unit (IMU), wherein the sensor data is indicative of a grade measurement for a road that the vehicle is operating upon.
20. The non-transitory computer-readable medium of claim 18 , further comprising:
controlling the vehicle based on the mapped portion of the environment.