Method and system for vehicular lidar and communication utilizing a vehicle head light and/or taillight
US-2024418861-A1 · Dec 19, 2024 · US
US2016323035A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016323035-A1 |
| Application number | US-201514832259-A |
| Country | US |
| Kind code | A1 |
| Filing date | Aug 21, 2015 |
| Priority date | Apr 28, 2015 |
| Publication date | Nov 3, 2016 |
| Grant date | — |
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Disclosed are methods, systems, devices, apparatus, computer-/processor-readable media, and other implementations, including a method to decode a visible light communication (VLC) signal by capturing images of a light source emitting a light modulated signal comprising a temporal sequence of symbols to determine decoded symbols and to further determine at least one codeword from a list of candidate codewords.
Opening claim text (preview).
What is claimed is: 1 . A method to decode a visible light communication (VLC) signal, the method comprising: capturing an image of a light source emitting a light modulated signal comprising a temporal sequence of symbols; determining a time-domain signal from the captured image; identifying from the time-domain signal an at least one decoded symbol; and determining at least one codeword from a list of candidate codewords based on the identified at least one decoded symbol from the time-domain signal and on an inter-symbol time measured between the at least one decoded symbol and an earlier at least one decoded symbol determined from an earlier time-domain signal from an earlier captured image. 2 . The method of claim 1 , wherein determining the at least one codeword from the list of candidate codewords comprises: eliminating a first codeword from the list of candidate codewords based on the identified at least one decoded symbol, or selecting a second codeword from the list of candidate codewords for further processing based on the identified at least one decoded symbol and on the measured inter-symbol time. 3 . The method of claim 1 , wherein capturing the image of the light source comprises: capturing the image of the light source with a CMOS camera including a rolling shutter. 4 . The method of claim 1 , wherein identifying from the time-domain signal the at least one decoded symbol comprises: identifying from the time-domain signal the at least one decoded symbol from a set of possible symbols based, at least in part, on known pre-determined durations associated with each of the possible symbols. 5 . The method of claim 1 , further comprising: measuring the inter-symbol time according to edge information for the at least one decoded symbol and for the earlier at least one decoded symbol. 6 . The method of claim 1 , wherein determining the at least one codeword comprises: measuring the inter-symbol time between a time of the at least one decoded symbol for the image and an earlier time of the earlier at least one decoded symbol for the earlier captured image; and identifying from the list of candidate codewords a candidate codeword including the at least one decoded symbol for the image and the earlier at least one decoded symbol for the earlier captured image when the measured inter-symbol time substantially equals a predicted inter-symbol time period between the earlier at least one decoded symbol in a first occurrence of the candidate codeword and the at least one decoded symbol in a second occurrence of the candidate codeword, the predicted inter-symbol time period computed based on a sum of pre-determined symbol durations of symbols appearing in the candidate codeword between a first position of the earlier at least one decoded symbol in the first occurrence of the candidate codeword and a second position of the at least one decoded symbol in the second occurrence of the candidate codeword. 7 . The method of claim 1 , wherein identifying from the time-domain signal the at least one decoded symbol comprises: determining duration of a pulse occurring in the time-domain signal from the captured image; and selecting from a set of possible symbols, with each of the possible symbols associated with a respective pre-determined duration, at least one symbol with an associated pre-determined duration that is at least equal to the determined duration of the pulse occurring in the time-domain signal. 8 . The method of claim 1 , wherein determining the at least one codeword from the list of candidate codewords comprises: eliminating the at least one codeword based further on the earlier at least one decoded symbol identified in the earlier time-domain signal determined from the earlier captured image of the light source emitting the light modulated signal. 9 . The method of claim 1 , further comprising: measuring the inter-symbol time, including measuring a symbol start time of the at least one decoded symbol relative to an image start time for the image. 10 . The method of claim 9 , wherein measuring the inter-symbol time further comprises: measuring an end time of the earlier at least one decoded symbol relative to an earlier image start time for the earlier captured image. 11 . The method of claim 1 , further comprising: outputting a decoded codeword if the list of candidate codewords contains only one remaining candidate codeword, the decoded codeword being the one remaining codeword. 12 . A mobile device comprising: an image capture unit including a gradual-exposure module configured to capture an image of a light source emitting a light modulated signal comprising a temporal sequence of symbols; memory configured to store the captured image; and one or more processors coupled to the memory and the image capture unit, and configured to: determine a time-domain signal from the captured image; identify from the time-domain signal an at least one decoded symbol; and determine at least one codeword from a list of candidate codewords based on the identified at least one decoded symbol from the time-domain signal and on an inter-symbol time measured between the at least one decoded symbol and an earlier at least one decoded symbol determined from an earlier time-domain signal for an earlier captured image. 13 . The mobile device of claim 12 , wherein the one or more processors configured to determine the at least one codeword from the list of candidate codewords are configured to: eliminate a first codeword from the list of candidate codewords based on the identified at least one decoded symbol, or select a second codeword from the list of candidate codewords for further processing based on the identified at least one decoded symbol and on the measured inter-symbol time. 14 . The mobile device of claim 12 , wherein the image capture unit including the gradual-exposure module comprises a CMOS camera including a rolling shutter. 15 . The mobile device of claim 12 , wherein the one or more processors configured to identify from the time-domain signal the at least one decoded symbol are configured to: identify the at least one decoded symbol from a set of possible symbols based, at least in part, on known pre-determined durations associated with each of the possible symbols. 16 . The mobile device of claim 12 , wherein the one or more processors configured to determine the at least one codeword are configured to: measure the inter-symbol time between a time of the at least one decoded symbol for the image and an earlier time of the earlier at least one decoded symbol for the earlier captured image; and identify from the list of candidate codewords a candidate codeword including the at least one decoded symbol for the image and the earlier at least one decoded symbol for the earlier captured image when the measured inter-symbol time substantially equals a predicted inter-symbol time period between the earlier at least one decoded symbol in a first occurrence of the candidate codeword and the at least one decoded symbol in a second occurrence of the candidate codeword, the predicted inter-symbol time period computed based on a sum of pre-determined symbol durations of symbols appearing in the candidate codeword between a first position of the earlier at least one decoded symbol in the first occurrence of the candidate codeword and a second position of the at least one decoded symbol in the second occurrence of the candidate codeword. 17 . The mobile device of claim 12 , wherein the one or more processors configured
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