METHOD AND SYSTEM FOR DETERMINING AN EGO-MOTION OF A VEHICLE
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Abstract
A method for determining an ego-motion of a vehicle is described, which is carried out in driver assistance systems, particularly in parking assistance systems. The method involves: taking a sequence of images, successive in time of a vehicle surroundings by a vehicle camera; determining, based on the image sequence, at least one motion flow with regard to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.
45 Citations
20 Claims
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1-10. -10. (canceled)
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11. A method for determining an ego-motion of a vehicle, comprising:
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taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings; determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method in a parking assistance system of a vehicle for at least one of a continuous calculation, checking, and adjustment of a parking trajectory, comprising:
determining an ego-motion of the vehicle by; taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings; determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.
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18. A method for collision warning in a driver assistance system of a vehicle, comprising:
determining an ego-motion of the vehicle; taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings; determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.
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19. A computer program containing instructions for execution on a programmable computer device, the computer instructions when executed resulting in performing a method for determining an ego-motion of a vehicle, comprising:
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taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings; determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.
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20. A driver assistance system for determining an ego-motion of a vehicle, comprising:
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a vehicle camera for taking a sequence of images, successive in time, of vehicle surroundings; a component, for determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and a component for determining the ego-motion of the vehicle based on the at least one motion flow.
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Specification