Method for image recognition in motor vehicles

• US 20040071316A1
• Filed: 12/15/2003
• Published: 04/15/2004
• Est. Priority Date: 01/30/2001
• Status: Abandoned Application

• Current Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Original Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Inventors: Wuerz-Wessel, Alexander, Stein, Fridtjof
• Application Number:
  US10/470,458
• Publication Number:
  US 20040071316A1
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

The invention relates to a method for image recognition in motor vehicles, whereby electromagnetic waves emanating from an object are detected by at least one sensor with regard to the direction and intensity thereof, evaluated and transferred to an image matrix. The untouched original image of the object and additional reflected waves from the object, reflected at the chassis, called the mirror image below, is recorded by the sensor. The mirror image and the original image are then taken for evaluation, whereby, firstly, the position and geometry of the reflecting surfaces of the chassis relative to the sensor are determined.

Claims

1. A method for image identification on the basis of stereo image processing, in which electromagnetic waves which originate from an object are received by at least one sensor both with regard to their intensity and with regard to their direction, are evaluated and are transferred to an image matrix,

characterized

in that the position, orientation and geometry of a reflective surface with respect to the sensor is determined,

in that the undisturbed original image of the object is received by the sensor,

in that, in addition, reflected waves from the object, which are reflected from the reflective surface, referred to in the following text as the mirror image, are received, and

in that the mirror image and the original image are used for evaluation.

2. The method as claimed in claim 1,

characterized

in that the epipolars of the reflective surface are determined,

in that the reflections on the epipolars are received using calibration objects with a known geometry and at a known distance, and

in that a calibration function is produced from this,

in that the calibration function is used for evaluation.

3. The method as claimed in claim 2,

characterized

in that the position of the mirror image with respect to the epipolars is determined, and in that the position of the mirror image is used to determine the distance to the object.

4. The method as claimed in claim 1,

characterized

in that a stereo camera, in particular a stereo CCD camera, is chosen as the sensor.

5. The method as claimed in claim 1,

characterized

in that a camera is chosen as the sensor, and in that the original image of the object as well as the reflection on the reflective surface are recorded using a camera, and the reflection on a reflective surface with a known geometry, preferably on a sphere, which is arranged at a known distance from the camera is recorded as a reference image by the camera.

6. The method as claimed in claim 1,

characterized

in that the original image of an object is determined and evaluated separately from the mirror image of the object, and in that corresponding image points and/or details are determined between the complete processed original image and the correspondingly processed mirror image.

7. The method as claimed in claim 1,

characterized

in that triangulation is carried out by means of corresponding image points and/or surfaces in order to determine the distance to the object.

8. The method as claimed in claim 1,

characterized

in that triangulation is carried out by means of corresponding image points and/or surfaces in order to determine the angle to the object.

9. The method as claimed in claim 1,

characterized

in that triangulation is carried out by means of corresponding image points and/or surfaces in order to determine the location of the object.

10. The method as claimed in claim 1,

characterized

in that the measurement range of the electromagnetic waves is chosen from the ultraviolet to the FIR, in particular between the ultraviolet and the FIR.

11. The use of the method as claimed in one of patent claims 1 to 10 in a motor vehicle.

12. Use as claimed in claim 11,

characterized

in that the reflective surface is formed by a part of the bodywork,.