Determining distance to an object

• US 20060268115A1
• Filed: 08/31/2004
• Published: 11/30/2006
• Est. Priority Date: 09/19/2003
• Status: Abandoned Application

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Eggers, Helmut, Seekircher, Jurgen, Wohlgemuth, Thomas, Kurz, Gerhard
• Application Number:
  US10/572,662
• Publication Number:
  US 20060268115A1
• Time in Patent Office: Days
• US Class Current: 348/207.990
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: H04N 23/11 for generating image signals from visible and infrared light wavelengths
• CPC Class Codes: H04N 5/33 Transforming infrared radiation cameras or camera modules for generating image signals from infrared radiation H04N23/20; circuitry of SSIS for transforming infrared radiation into image signals H04N25/20
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A device comprising two cameras (1; 2) of which a first camera (1) is sensitive in the visible spectral range and a second camera (2) is sensitive in the infrared spectral range. The cameras (1; 2) are placed at a defined distance (a) from one another in order to record images of an identical scene (3) containing at least one object (4). The device also comprises a triangulation device (7) that calculates a distance of the object (4) from the cameras (1; 2) based on a defined distance (a) and on the images recorded by the two cameras (1; 2).

Claims

1. An apparatus having two cameras (1;

2), of which a first camera (1) is sensitive in the visible spectral region and a second camera (2) is sensitive in the infrared spectral region, wherein said two cameras are arranged at a defined spacing (a) from one another in order to record images of an identical scene (3) having at least one object (4), wherein said apparatus further comprises a triangulation device (7) that calculates a distance of the object (4) to the camera (1;

2) from the defined spacing (a) and the images recorded by the two cameras (1;

2).

2. The apparatus as claimed in claim 1, comprising a reproduction system (8) with a display screen (13) for electronic production and display of a display image (14), constructed from a plurality of pixels, of the scene (3), the reproduction system (8) deriving the display image (14) from image signals (RGB;

YUV;

Y_IR) that are supplied by the two cameras (1;

2).

3. The apparatus as claimed in claim 1, wherein the first camera (1) is a color camera.

4. The apparatus as claimed in claim 1, wherein the reproduction system (8) comprises a combination device (9) for producing a combined video signal (Y_IRUV) and derives the display image (14) from the combined video signal (Y_IRUV), the combined video signal (Y_IRUV) comprising for each pixel an item of luminance information derived from the image signal (Y_IR) of the second camera and an item of color information derived from the image signal (RGB;

YUV) of the first camera.

5. The device as claimed in claim 4, wherein the first camera (1) supplies a multi-component color video signal (YUV) as the image signal (RGB;

YUV), and in that one of the components (Y) is an item of luminance information for each pixel.

6. The apparatus as claimed in claim 5, wherein the first camera (1) comprises sensors (5) that are respectively sensitive in a red, a green or a blue wavelength region, and a transformation matrix that transforms signals (RGB) supplied by the sensors (5) into the multi-component color video signal (YUV).

7. The apparatus as claimed in claim 6, wherein the reproduction system (8) comprises a back transformation matrix (12) that transforms a multi-component color video signal (Y_IRUV) into a second color video signal (R′

G′

B′

) that represents the brightness of each pixel in a red, a green and a blue wavelength region, and derives the display image (14) from the second color video signal (R′

G′

B′

).

8. The apparatus as claimed in claim 2, wherein the reproduction system (8) produces a spatial image of the object (4).

9. A vehicle with an apparatus having two cameras (1;

2), of which a first camera (1) is sensitive in the visible spectral region and a second camera (2) is sensitive in the infrared spectral region, wherein said two cameras are arranged at a defined spacing (a) from one another in order to record images of an identical scene (3) having at least one object (4), wherein said apparatus further comprises a triangulation device (7) that calculates a distance of the object (4) to the camera (1;

2) from the defined spacing (a) and the images recorded by the two cameras (1;

2).

10. The vehicle as claimed in claim 9, wherein comprises an automatic anti-collision apparatus (15) that uses the distance calculated by the triangulation device (7).

11. A method for determining distance to an object (4), comprising:

(a) recording an image of a scene (3) having the object (4) in a visible spectral region with a first camera (1);

(b) recording an image of the same scene (3) in an infrared spectral region with a second camera (2) that is arranged at a defined spacing (a) from the first camera (1); and

(c) calculating a distance of the object (4) to the camera (1;

2) from the defined spacing (a) and the images recorded by the two cameras (1;

2).

12. The method as claimed in claim 11, the object (4) is detected in the two images by finding common features in the images of the scene (3) recorded by the two cameras (1;

2).

13. The method as claimed in claim 12, wherein the image recorded with the first camera (1) is represented by a multi-component color video signal (RGB;

YUV), and at least one component of the multi-component color video signal (RGB;

YUV) is compared with the image recorded by the second camera (2) in order to find the common features.

14. The method as claimed in claim 12, wherein the image, recorded with the first camera (1), of the scene (3) reproduces an item of luminance information (Y) of the scene (3), and this image is compared with the image recorded by the second camera (2) in order to find the common features.