Method for recognition of an object
First Claim
1. A method for predicting a size of an image of an object in a field of view of a camera device, said camera device having an image plane including image elements, the method comprisingdetermining at least one relevant spatial zone in the field of view, said relevant spatial zone corresponding to a possible position of the object based on assumptions on the relative position of the object;
- projecting the relevant spatial zone onto the image plane, thereby forming a projection;
computing boundaries of the projection using camera parameters of the camera device to determine at least one relevant image zone;
determining a directional beam for image elements in the relevant image zone, said directional beam including spatial points from the field of view; and
determining, for each image element in the relevant image zone, at least one value for an expected size of the image of the object from assumptions on the size of the object and from a distance range based on the intersection of the directional beam associated with the image element and the relevant spatial zone.
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Accused Products
Abstract
The invention relates to a method for the prediction of the size to be expected of the image of a stationary object associated with a road in a picture of the environment in the field of view of a camera device which is in particular arranged at a motor vehicle and which has an image plane including image elements, wherein at least one relevant spatial zone from the field of view of the camera device is determined; wherein boundaries of the calculated projection onto the image plane of the at least one relevant spatial zone are determined in order to determine at least one relevant image zone; wherein a directional beam is determined for each of the image elements in the at least one relevant image zone, said directional beam including those spatial points from the field of view which would be projected onto the respective image element on a projection onto the image plane; and wherein at least one value for the size to be expected of the image of a road sign in the respective image element is determined for each of the image elements in the relevant image zone.
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Citations
9 Claims
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1. A method for predicting a size of an image of an object in a field of view of a camera device, said camera device having an image plane including image elements, the method comprising
determining at least one relevant spatial zone in the field of view, said relevant spatial zone corresponding to a possible position of the object based on assumptions on the relative position of the object; -
projecting the relevant spatial zone onto the image plane, thereby forming a projection; computing boundaries of the projection using camera parameters of the camera device to determine at least one relevant image zone; determining a directional beam for image elements in the relevant image zone, said directional beam including spatial points from the field of view; and determining, for each image element in the relevant image zone, at least one value for an expected size of the image of the object from assumptions on the size of the object and from a distance range based on the intersection of the directional beam associated with the image element and the relevant spatial zone. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A media comprising a computer-readable code configured to cause a computer to carry out a method for predicting a size of an image of an object in a field of view of a camera device, said camera device having an image plane including image elements, the method comprising
determining at least one relevant spatial zone in the field of view, said relevant spatial zone corresponding to a possible position of the object based on assumptions on the relative position of the object; -
projecting the relevant spatial zone onto the image plane, thereby forming a projection; computing boundaries of the projection using camera parameters of the camera device to determine at least one relevant image zone; determining a directional beam for image elements in the relevant image zone, said directional beam including spatial points from the field of view; and determining, for each image element in the relevant image zone, at least one value for an expected size of the image of the object from assumptions on the size of the object and from a distance range based on the intersection of the directional beam associated with the image element and the relevant spatial zone.
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Specification