IMAGE PROCESSING METHOD FOR DETERMINING DEPTH INFORMATION FROM AT LEAST TWO INPUT IMAGES RECORDED WITH THE AID OF A STEREO CAMERA SYSTEM
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Abstract
An image processing method is described for determining depth information from at least two input images recorded by a stereo camera system, the depth information being determined from a disparity map taking into account geometric properties of the stereo camera system, characterized by the following method steps for ascertaining the disparity map: transforming the input images into signature images with the aid of a predefined operator, calculating costs based on the signature images with the aid of a parameter-free statistical rank correlation measure for ascertaining a cost range for predefined disparity levels in relation to at least one of the at least two input images, performing a correspondence analysis for each point of the cost range for the predefined disparity levels, the disparity to be determined corresponding to the lowest costs, and ascertaining the disparity map from the previously determined disparities.
78 Citations
20 Claims
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1-10. -10. (canceled)
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11. An image processing method for determining depth information from at least two input images recorded by a stereo camera system, the method comprising:
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determining the depth information being determined from a disparity map taking into account geometric properties of the stereo camera system; and determining the disparity map by performing the following; transforming the input images into signature images with the aid of a predefined operator; calculating costs based on the signature images with the aid of a parameter-free statistical rank correlation measure for ascertaining a cost range for predefined disparity levels in relation to at least one of the at least two input images; performing a correspondence analysis for each point of the cost range for the predefined disparity levels, the disparity to be determined corresponding with the lowest costs; and ascertaining the disparity map from the previously determined disparities. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A computer readable medium having a computer program, which is executable by a processor, comprising:
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a program code arrangement having program code for performing an image processing task for determining depth information from at least two input images recorded by a stereo camera system, by performing the following; determining the depth information being determined from a disparity map taking into account geometric properties of the stereo camera system; and determining the disparity map by performing the following; transforming the input images into signature images with the aid of a predefined operator; calculating costs based on the signature images with the aid of a parameter-free statistical rank correlation measure for ascertaining a cost range for predefined disparity levels in relation to at least one of the at least two input images; performing a correspondence analysis for each point of the cost range for the predefined disparity levels, the disparity to be determined corresponding with the lowest costs; and ascertaining the disparity map from the previously determined disparities; wherein the computer program is executed on an image processing device of a stereo camera system, which is on one of a microprocessor of a microcomputer, a field programmable gate array, an application-specific integrated circuit, and a digital signal processor. - View Dependent Claims (19)
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20. A driver information system of a motor vehicle, comprising:
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at least one stereo camera system having an image processing device, provided with the at least one stereo camera system; and a computer readable medium having a computer program, which is executable by a processor, including; a program code arrangement having program code for performing an image processing task for determining depth information from at least two input images recorded by a stereo camera system, by performing the following; determining the depth information being determined from a disparity map taking into account geometric properties of the stereo camera system; and determining the disparity map by performing the following; transforming the input images into signature images with the aid of a predefined operator; calculating costs based on the signature images with the aid of a parameter-free statistical rank correlation measure for ascertaining a cost range for predefined disparity levels in relation to at least one of the at least two input images; performing a correspondence analysis for each point of the cost range for the predefined disparity levels, the disparity to be determined corresponding with the lowest costs; and ascertaining the disparity map from the previously determined disparities; wherein the computer program is executed on an image processing device of a stereo camera system, which is on one of a microprocessor of a microcomputer, a field programmable gate array, an application-specific integrated circuit, and a digital signal processor.
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Specification