Abstract: A blemish detection and characterization system and techniques for an optical imaging device includes determining a ratio of the light intensity of the image lost to the blemish relative to an expected light intensity of the image without the blemish. The system and technique may include receiving an image, transforming an image into a processed image with transformations and filters, as well as determining a relative magnitude of an intensity of a portion of the processed image relative to another area of the image. The system and technique may include taking an action based on the relative magnitude including rejecting a sensor, reworking the sensor, cleaning the sensor, or providing information about the blemish to a system to use in weighing data collected from the sensor.

Abstract: An imaging device blemish detection test enclosure and techniques for an optical imaging device includes a mounting structure for mounting an optical imaging device, a first body with a concave surface, and a second body holding the mounting structure relative to the first body. The mounting structure and the second body may orient an optical axis of a lens of the optical imaging device towards the concave surface and locate the lens relative to the concave surface where the interface between the first and second bodies is outside of a lens field of view of the lens. The system may include a light source disposed in the second body and directed towards the concave surface of the of the first body providing an evenly illuminating the concave surface. The concave surface may include a surface of a spherical sector greater than a hemisphere.

Abstract: Techniques for estimating a direction of arrival of sound in an environment are discussed. First and second audio data are received from a first pair of audio sensors associated with a vehicle. A first region of ambiguity associated with the first pair of audio sensors is determined based on the first and second audio data. Third and fourth audio data are received from a second pair of audio sensors. A second region of ambiguity associated with the second pair of audio sensors is determined based on the third and fourth audio data. The regions of ambiguity can be further based on confidence levels associated with sensor or audio data. An area of intersection of the first region of ambiguity and the second region of ambiguity can be determined. A direction of arrival of an audio event can be determined based on the area of intersection.