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Camera peek into turn

專利號
US12137285B2
公開日期
2024-11-05
申請人
Waymo LLC(US CA Mountain View)
發(fā)明人
Nirmal Patel
IPC分類
H04N23/60; B60R1/27; B60R1/28; G05D1/00; G06T15/20; H04N23/63; H04N23/69
技術(shù)領(lǐng)域
camera,vehicle,virtual,vehicle's,computing,may,heading,turn,as,system
地域: CA CA Mountain View

摘要

Aspects of the disclosure relate to adjusting a virtual camera's orientation when a vehicle is making a turn. One or more computing devices may receive the vehicle's original heading prior to making the turn and the vehicle's current heading. Based on the vehicle's original heading and the vehicle's current heading, the one or more computing devices may determine an angle of a turn the vehicle is performing and The one or more computing devices may determine a camera rotation angle and adjust the virtual camera's orientation relative to the vehicle to an updated orientation by rotating the virtual camera by the camera rotation angle and generate a video corresponding to the virtual camera's updated orientation. The video may be displayed on the display by the one or more computing devices.

說明書

The distance the virtual camera 701 rotates around the vehicle may be based on the angle of the turn the vehicle is performing. The angle of the turn the vehicle is performing may be determined by measuring the angular difference between the original heading 705 which the vehicle was originally on before performing a turn with the current heading 815 which the vehicle is currently on, as further shown in FIG. 8. The original heading 705 and the current heading may be provided by the vehicle's navigation system 168 and positioning system 170.

The virtual camera system may input the angle of the turn the vehicle is performing into a rotation table. The rotation table may map the angle of the turn to a camera rotation angle. For instance, the angle of the turn input into the rotation table may be 90° and the rotation table may map the 90° angle to a 45° camera rotation. The virtual camera system may then rotate the virtual camera 701 by the camera rotation angle, thereby causing the field of view of the virtual camera 701 to also rotate by the camera rotation angle.

As the vehicle progresses through the turn, the virtual camera system may continually update the camera rotation angle. For example, as shown in FIGS. 9-12, to complete a turn, the vehicle progresses through a series of angles such as 0°-90°, or more or less.

權(quán)利要求

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