Method for preparing image information
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Abstract
The invention relates to method for preparing image information relating to a monitoring region in the visual region of an optoelectronic sensor, especially a laser scanner, used to record the position of objects in at least one recording plane, and in the visual region of a video system having at least one video camera. Depth images recorded by the optoelectronic sensor respectively contain pixels corresponding to points of a plurality of recorded objects in the monitoring region, with position co-ordinates of the corresponding object points, and the video images recorded by the video system comprise the pixels and the data detected by the video system. On the basis of the recorded position co-ordinates of at least one of the object points, at least one pixel corresponding to the object point and recorded by the video system is defined. The data corresponding to the pixel of the video image and the pixel of the depth image and/or the position co-ordinates of the object points are associated with each other.
107 Citations
76 Claims
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1-28. -28. (Cancelled)
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29. A method for the provision of image information concerning a monitored zone which lies in the field of view (22) of an optoelectronic sensor (12), in particular of a laser scanner, for the detection of the position of objects (20) in at least one detection plane and in the field of view (32) of a video system (14) with at least one video camera (16), in which
depth images are provided which are detected by the optoelectronic sensor (12) and which each contain image points (26′ - , 36′
, 38′
), which correspond to respective object points (26, 36, 38) on one or more detected objects (20) in the monitored zone, with positional coordinates of the corresponding object points (26, 36, 38), as well as video images of a region, said video images being detected by the video system (14) and containing the object points (26, 36, 38), and including the image points (26″
, 36″
, 38″
, 54) with data detected by the video system;
at least one image point (26″
, 36″
, 38″
, 54) is determined on the basis of the detected positional coordinates of at least one of the object points (26, 36, 38) corresponding to an object point (26, 36, 38) and detected by the video system (14); and
data corresponding to the image point (26″
, 36″
, 38″
, 54) of the video image and the image point (26′
, 36′
, 38′
) of the depth image and/or the positional coordinates of the object point (26, 36, 38) are associated with one another. - View Dependent Claims (30, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 65, 66, 67, 68, 69, 70)
- , 36′
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35. A method for the provision of image information concerning a monitored zone which lies in the field of view (22) of an optoelectronic sensor (12) for the detection of the position of objects (20) in at least one detection plane and in the field of view (32) of a video system (42) for the detection of depth resolved, three-dimensional video images with at least one video camera (44, 48a, 48b), in which
depth images are provided which are detected by the optoelectronic sensor (12) and which each contain image points (26′ - , 36′
, 38′
) corresponding to object points (26, 36, 38) on one or more detected objects (20) in the monitored zone as well as video images detected by the video system (42) of a region containing the object points (26, 36, 38), the video images containing image points (26″
, 36″
, 38″
, 54) with positional coordinates of the object points (26, 36, 38);
image points (26″
, 36″
, 38″
, 54) in the video image which are located close to or in the detection plane of the depth image are matched by a translation and/or rotation to corresponding image points (26′
, 36′
, 38′
) of the depth image; and
the positional coordinates of these image points (26″
, 36″
, 38″
, 54) of the video image are corrected in accordance with the determined translation and/or rotation. - View Dependent Claims (36, 37, 38, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 71, 72, 73, 74, 75, 76)
- , 36′
Specification