Method and Device for Determining a Calibrating Parameter of a Stereo Camera
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Accused Products
Abstract
The invention relates to a method and a device for determining an object property of an object with the aid of images that have been recorded with the aid of a camera. Further, the invention relates to a method for determining a calibration parameter for a stereo camera. For determining the object property of an object, the object is defined in a first image recorded with the aid of the camera. Further, the brightness of a defined object is determined. Each time after a preset time interval, a further image is recorded with the aid of the camera. The object is defined in each of the further images and each time, the brightness of the defined object of each image is determined. Dependent on the brightness curve, an object property is assigned to the object.
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Citations
98 Claims
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1-43. -43. (canceled)
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44. A method for determining an object property of an object with the aid of images that have been recorded with the aid of a camera, the method comprising the steps of:
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defining at least one object in a first image recorded with the aid of the camera, determining the brightness of the defined object, recording a further image at least each time after a preset time interval with the aid of the camera, defining the object in each of the further images, determining each time, the brightness of the defined object of each image, and assigning an object property to the object dependent on a curve defined by the brightness. - View Dependent Claims (45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56)
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57. A device for determining an object property of an object with the aid of images that have been recorded with the aid of a camera, comprising:
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a camera which at least at a preset time interval records images of at least one object, means defining at least one object in a first image recorded with the aid of the camera, means for determining the brightness of the defined object, means for defining the object in each of the further images recorded with the aid of the camera at the preset time interval, means for each time, determining the brightness of the defined object of each image, and means for assigning an object property to the object dependent on the brightness curve. - View Dependent Claims (58, 59)
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60. A method for determining a calibration parameter for a stereo camera, in which a relative movement of the stereo camera with respect to a further object is analysed, said method comprising the steps of:
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the aid of object images of an object recorded at least two times one after the other at an interval by the stereo camera, the distance between the stereo camera and the object is each time determined, with the aid of the determined distances an apparent change in distance between the stereo camera and the object is determined, the actual change in distance between the stereo camera and the object is determined, and wherein, dependent on a deviation of an apparent change in distance from the actual change in distance at least one calibration parameter for the determination of further distances with respect to the object and/or to further objects is determined with the aid of object images recorded by the stereo camera. - View Dependent Claims (63, 65, 67, 69, 71, 73, 76, 78, 80, 82, 84, 86, 88, 90)
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61. A method for determining a calibration parameter for a stereo camera, in which a relative movement of the stereo camera with respect to a further object is analysed, said method comprising the steps of:
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with the aid of object images of an object recorded at least two times one after the other at an interval by the stereo camera, the distance between the stereo camera and the object is each time determined, with the aid of the determined distances an apparent speed between the stereo camera and the object is determined, and the actual speed between the stereo camera and the object is determined, and wherein, dependent on a deviation of an apparent speed from the actual speed at least one calibration parameter for the determination of further distances between at least one of the stereo camera and the object and the stereo camera and further objects is determined with the aid of object images recorded by the stereo camera. - View Dependent Claims (62, 64, 66, 68, 70, 72, 74, 75, 77, 79, 81, 83, 85, 87, 89, 91)
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92. A device for determining a calibration parameter for a stereo camera, in which a control unit analyses a relative movement between the stereo camera and a further object,
the stereo camera records object images of the object at least two times one after the other at a time interval, the control unit each time determines the distance between the stereo camera and the object with the aid of the recorded object images, the control unit determines an apparent change in distance between the stereo camera and the object with the aid of determined distances, the control unit determines the actual change in distance between the stereo camera and the object, and the control unit determines, dependent on the deviation of the apparent change in distance from the actual change in distance, at least one calibration parameter for the determination of further distances between the stereo camera and the object and/or between the stereo camera and at least one further object with the aid of object images recorded by the stereo camera.
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93. A device for determining a calibration parameter for a stereo camera, in which a control unit analyses a relative movement between the stereo camera and a further object,
the stereo camera records object images of the object at least two times one after the other at a time interval, the control unit each time determines the distance between the stereo camera and the object with the aid of the recorded object images, the control unit determines an apparent speed between the stereo camera and the object with the aid of the determined distances, the control unit determines the actual speed between the stereo camera and the object, and the control unit determines, dependent on the deviation of the apparent speed from the actual speed, at least one calibration parameter for the determination of further distances between the stereo camera and the object and/or between the stereo camera and further objects with the aid of object images recorded by the stereo camera.
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94. A method for determining a calibration parameter for a stereo camera, in which the actual position of an object at a point in time is determined,
the apparent distance between the stereo camera and the object at this point in time is determined with the aid of object images of the object recorded by the stereo camera at this point in time, the actual position of the stereo camera at this point in time is determined, the actual distance between the stereo camera and the object at this point in time is determined with the aid of the determined actual positions, at least one calibration parameter is determined dependent on the deviation of the apparent distance from the actual distance, which parameter serves for the determination of further distances between the stereo camera and the object and/or between the stereo camera and further objects with the aid of object images recorded by the stereo camera.
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98. A device for determining a calibration parameter for a stereo camera, in which a first evaluation unit determines the actual position of an object at this point in time,
a second evaluation unit determines the apparent distance between the stereo camera and the object at this point in time with the aid of object images of the object recorded by the stereo camera at this point in time, the second evaluation unit determines the actual position of the stereo camera at this point in time, the second evaluation unit determines the actual distance between the stereo camera and the object at this point in time with the aid of the determined actual positions, and the second evaluation unit determines at least one calibration parameter dependent on the deviation of the apparent distance from the actual distance, which parameter serves for the determination of further distances between the stereo camera and the object and/or between the stereo camera and further objects with the aid of object images recorded by the stereo camera.
Specification