METHOD AND DEVICE FOR DETERMINING A CHANGE IN THE PITCH ANGLE OF A CAMERA OF A VEHICLE
First Claim
1. A method for determining a change in a pitch angle of a camera of a vehicle, comprising:
- sequentially recording at least three images, each of which includes a reproduction of a detection area in front of the vehicle, and the at least three images including at least a first image, a second image and a third image;
generating image data corresponding to each of the images; and
processing the image data by;
determining a first image position as a position of a first reproduction of a stationary object in the first image;
determining a second image position as a position of a second reproduction of the stationary object in the second image;
determining a course of a straight line based on at least the first image position and the second image position;
determining a third image position as a position of a third reproduction of the stationary object in the third image; and
determining the change in the pitch angle of the camera based on a distance between the third image position and the straight line.
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Accused Products
Abstract
A method and device determine the change in pitch angle of a camera of a vehicle. At least three images, each reproducing a detection area in front of the vehicle, are sequentially recorded and corresponding image data are generated. A position of a first reproduction of a stationary object in the first image is determined as a first image position. A position of a second reproduction of the stationary object in the second image is determined as a second image position. On the basis of at least the first image position and the second image position, the course of a straight line is determined. A position of a third reproduction of the stationary object in the third image is determined as a third image position. On the basis of the distance between the third image position and the straight line, the change in the pitch angle is determined.
44 Citations
15 Claims
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1. A method for determining a change in a pitch angle of a camera of a vehicle, comprising:
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sequentially recording at least three images, each of which includes a reproduction of a detection area in front of the vehicle, and the at least three images including at least a first image, a second image and a third image; generating image data corresponding to each of the images; and processing the image data by; determining a first image position as a position of a first reproduction of a stationary object in the first image; determining a second image position as a position of a second reproduction of the stationary object in the second image; determining a course of a straight line based on at least the first image position and the second image position; determining a third image position as a position of a third reproduction of the stationary object in the third image; and determining the change in the pitch angle of the camera based on a distance between the third image position and the straight line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A device for determining a change in a pitch angle of a camera of a vehicle, the camera sequentially recording at least three images, each of which includes a reproduction of a detection area in front of the vehicle and generates image data corresponding to each of the images, the at least three images including at least a first image, a second image and a third image;
- the device comprising;
a processing unit for processing the image data and configured to; determine a first image position as a position of a first reproduction of a stationary object in the first image; determine aa second image position as a position of a second reproduction of the stationary object in the second image; determine a course of a straight line based on at least the first image position and the second image position; determine a third image position as a position of a third reproduction of the stationary object in the third image; and determine the change in the pitch angle of the camera based on a distance between the third image position and the straight line.
- the device comprising;
Specification