Virtual camera panning and tilting

• US 10,618,471 B2
• Filed: 11/30/2017
• Issued: 04/14/2020
• Est. Priority Date: 11/30/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Sejalon, Frederic M., Baran, Matthew
• Primary Examiner(s): Billah, Masum
• Application Number:
  US15/827,557
• Publication Number:
  US 20190161015A1
• Time in Patent Office: 866 Days
• Field of Search: 348148
• CPC Class Codes: B60R 1/006 Side-view mirrors, e.g. V-shaped mirrors located at the front or rear part of the vehicle combined with rear-view mirrors B60R1/08; side-view periscopes B60R1/10
• CPC Class Codes: B60R 1/025 comprising special mechanical means for correcting the field of view in relation to particular driving conditions, e.g. change of lane; scanning mirrors
• CPC Class Codes: B60R 1/081 avoiding blind spots, e.g. by using a side-by-side association of mirrors
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• CPC Class Codes: B60R 2300/406 using wireless transmission
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: G02B 27/0025 for optical correction, e.g. distorsion, aberration
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A camera system comprising a first video camera having a first field of vision, an orientation adjustment switch, a first display, and an electronic processor. The electronic processor is configured to receive, from the first video camera, a non-rectilinear image of the first field of vision and receive, from the orientation adjustment switch, input defining an axis of a second field of vision within the first field of vision. The electronic processor is also configured to apply a distortion correction method to the non-rectilinear image of the first field of vision to produce a rectilinear image of the first field of vision. The electronic processor is further configured to determine a rectilinear image of the second field of vision within the rectilinear image of the first field of vision, and display the rectilinear image of the second field of vision on the first display.

Claims

1. A camera system comprising:

a first video camera having a first field of vision;

an orientation adjustment switch;

a second video camera having a third field of vision;

a selection switch;

a first display; and

an electronic processor configured to;

receive, from the first video camera, a non-rectilinear image of the first field of vision;

receive, from the selection switch, input determining whether input received from the orientation adjustment switch defines an axis of a second field of vision within the first field of vision or an axis of a fourth field of vision within the third field of vision;

when the input from the selection switch determines the orientation adjustment switch defines the axis of the second field of vision within the first field of vision, receive, from the orientation adjustment switch, input defining the axis of the second field of vision within the first field of vision;

apply a distortion correction method to the non-rectilinear image of the first field of vision to produce a rectilinear image of the first field of vision;

determine a rectilinear image of the second field of vision within the rectilinear image of the first field of vision; and

display the rectilinear image of the second field of vision on the first display.

2. The camera system according to claim 1, wherein the first video camera is located in a fixed position and has a fixed orientation and wherein the rectilinear image of the second field of vision is a virtual counterpart to a panned image, a tilted image, or both.

3. The camera system according to claim 1, wherein a user or an autonomous driving function defines the axis of the second field of vision via input from the orientation adjustment switch.

4. The camera system according to claim 1, wherein the first video camera has a fisheye lens and the fisheye lens causes a distortion of the non-rectilinear image of the first field of vision.

5. The camera system according to claim 1, wherein the camera system comprises a second display.

6. The camera system according to claim 5, wherein the electronic processor is configured to:

when the input from the selection switch determines the orientation adjustment switch defines the axis of the fourth field of vision within the third field of vision, receive, from the orientation adjustment switch, input defining the axis of the fourth field of vision within the third field of vision;

apply the distortion correction method to the non-rectilinear image of the third field of vision to produce a rectilinear image of the third field of vision;

determine a rectilinear image of the fourth field of vision within the rectilinear image of the third field of vision; and

display the rectilinear image of the fourth field of vision on the second display.

7. The camera system according to claim 1 wherein, the first field of vision is larger than the second field of vision.

8. The camera system according to claim 1 wherein, the first field of vision covers an area in a vehicle'"'"'s surrounding environment.

9. The camera system according to claim 1, wherein the electronic processor is further configured to receive as input a size of an area in a vehicle'"'"'s surrounding environment that the second field of vision covers.

10. A method for displaying a virtual field of vision within a field of vision received from a video camera using a camera system, the method comprising:

receiving, from a first video camera, a non-rectilinear image of a first field of vision;

receiving, from a second video camera, a non-rectilinear image of a third field of vision;

receiving, from a selection switch, input determining whether input received from an orientation adjustment switch defines an axis of a second field of vision within the first field of vision or an axis of a fourth field of vision within the third field of vision;

when the input from the selection switch determines the orientation adjustment switch defines the axis of the second field of vision within the first field of vision, receiving, from the orientation adjustment switch, input defining the axis of the second field of vision within the first field of vision;

determining, with an electronic processor, a non-rectilinear image of the second field of vision within the non-rectilinear image of the first field of vision;

applying, with the electronic processor, a distortion correction method to the non-rectilinear image of the second field of vision to produce a rectilinear image of the second field of vision; and

displaying, via a first display, the rectilinear image of the second field of vision.

11. The method according to claim 10, wherein the first video camera has a fixed position and a fixed orientation and wherein the non-rectilinear image of the second field of vision is a virtual counterpart to a panned image, a tilted image, or both.

12. The method according to claim 10, wherein receiving input defining an axis of a second field of vision includes receiving a user or an autonomous driving function input from the orientation adjustment switch.

13. The method according to claim 10, wherein, the first video camera has a fisheye lens and the fisheye lens causes a distortion of the non-rectilinear image of the first field of vision.

14. The method according to claim 10, further comprising:

when the input from the selection switch determines the orientation adjustment switch defines the axis of the fourth field of vision within the third field of vision, receiving, from the orientation adjustment switch, input defining the axis of the fourth field of vision within the third field of vision;

determining, with the electronic processor, a non-rectilinear image of the fourth field of vision within the non-rectilinear image of the third field of vision;

applying, with the electronic processor, the distortion correction method to the non-rectilinear image of the fourth field of vision to produce a rectilinear image of the fourth field of vision; and

displaying, via a second display, the rectilinear image of the fourth field of vision.

15. The method according to claim 10, wherein the first field of vision is larger than the second field of vision.

16. The method according to claim 10, wherein the first field of vision covers an area in a vehicle'"'"'s surrounding environment.

17. A camera system comprising:

a first video camera having a first field of vision;

an orientation adjustment switch;

a second video camera having a third field of vision;

a selection switch;

a first display; and

an electronic processor configured to;

receive, from the first video camera, a non-rectilinear image of the first field of vision;

receive, from the selection switch, input determining whether input received from the orientation adjustment switch defines an axis of a second field of vision within the first field of vision or an axis of a fourth field of vision within the third field of vision;

when the input from the selection switch determines the orientation adjustment switch defines the axis of the second field of vision within the first field of vision, receive, from the orientation adjustment switch, input defining the axis of the second field of vision within the first field of vision;

determine a non-rectilinear image of the second field of vision within the non-rectilinear image of the first field of vision;

apply a distortion correction method to the non-rectilinear image of the second field of vision to produce a rectilinear image of the second field of vision; and

display the rectilinear image of the second field of vision on the first display.