Method for the detection of an obstacle
First Claim
1. Method for the detection of an obstacle (12) located in a path of a motor vehicle (10), in particular a person, in which by means of a camera (14) a first image (16) and, with a time interval from the latter, a second image (16) of the environment of the vehicle (10) located in the direction of travel, are recorded, a first transformed image (28) is generated by projection of the first recorded image (16) out of the camera image plane (24) into the plane of the ground (20), and a second transformed image (28) is generated by projection of the second recorded image (16) out of the camera image plane (24) into the plane of the ground (20), a differential image (40) is determined from the first and second transformed images (28), and by evaluation of the differential image (40) it is determined whether an obstacle (12) is located in the path of the vehicle (10).
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Accused Products
Abstract
The invention concerns a method for the detection of an obstacle located in a path of a motor vehicle, in particular a person, in which by means of a camera a first image and, with a time interval from the latter, a second image of the environment of the vehicle located in the direction of travel, are recorded, a first transformed image is generated by projection of the first recorded image out of the camera image plane into the plane of the ground, and a second transformed image is generated by projection of the second recorded image out of the camera image plane into the plane of the ground, a differential image is determined from the first and second transformed images, and by evaluation of the differential image it is determined whether an obstacle is located in the path of the vehicle.
13 Citations
17 Claims
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1. Method for the detection of an obstacle (12) located in a path of a motor vehicle (10), in particular a person, in which
by means of a camera (14) a first image (16) and, with a time interval from the latter, a second image (16) of the environment of the vehicle (10) located in the direction of travel, are recorded, a first transformed image (28) is generated by projection of the first recorded image (16) out of the camera image plane (24) into the plane of the ground (20), and a second transformed image (28) is generated by projection of the second recorded image (16) out of the camera image plane (24) into the plane of the ground (20), a differential image (40) is determined from the first and second transformed images (28), and by evaluation of the differential image (40) it is determined whether an obstacle (12) is located in the path of the vehicle (10).
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17. Device for the detection of an obstacle (12) located in a path of a motor vehicle (10), in particular a person, with
a camera (14) for recording a first image (16) and, with a time interval from the latter, a second image (16) of the environment of the vehicle (10) located in the direction of travel, a transformation unit for generating a first transformed image (28) by projection of the first image (16) out of the camera image plane (24) into the plane of the ground (20), and a second transformed image (28) by projection of the second image (16) out of the camera image plane (24) into the plane of the ground (20), a difference-forming unit for determining a differential image (40) from the first and second transformed images (28), and an evaluation unit for evaluation of the differential image (40) for whether an obstacle is located in the path of the vehicle.
Specification