Method and Device for Processing Images from Image Data

• US 20150002640A1
• Filed: 09/19/2014
• Published: 01/01/2015
• Est. Priority Date: 03/21/2012
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: REICHER, Thomas, BAUER, Guenter
• Granted Patent: US 9,521,400 B2
• Time in Patent Office: Days
• US Class Current: 348/47
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: H04N 13/275 from 3D object models, e.g. computer-generated stereoscopic image signals

Abstract

Image data of respective images are recorded by multiple cameras that are arranged on a vehicle. A geometry of a three-dimensional environment model is provided, which has a level ground region that lies in a ground plane of the vehicle and which has a surface that has a ground surface of the level ground region and that encloses an ambient space, which also includes the vehicle. The image data of the respective images of the various cameras are projected on the surface of the three-dimensional environment model as environment model image data. Image data to be signaled of an image to be displayed from a view of a virtual camera on to the surface of the three-dimensional environment model are determined. This occurs, for a view that includes at least a portion of the vehicle, in the sense that a specified representative object of the vehicle is embedded in the three-dimensional environment model and at least a partial region of the representative object is transparently displayed such that the view through the partial region on to a respective partial surface region of the surface of the three-dimensional environment model is made possible.

Claims

1. A method for image processing of image data of respective images recorded by multiple cameras arranged on a vehicle, the method comprising the acts of:

providing a geometry of a three-dimensional environment model having a level ground region lying in a ground plane of the vehicle, and having a surface that includes a ground surface of the level ground region enclosing an ambient space that includes the vehicle;

projecting image data of the respective images of various cameras on the surface of the three-dimensional environment model as environment model image data;

determining image data to be signaled of an image to be displayed from a view of a virtual camera onto the surface of the three-dimensional environment model, wherein the view includes at least a portion of the vehicle, wherein a specified representative object of the vehicle is embedded in the three-dimensional model and at least a partial region of the specified representative object is transparently displayed such that a view through the partial region onto a respective partial surface region of the surface of the three-dimensional environment model occurs.

2. The method according to claim 1, wherein the determining of the image data to be signaled for the view of the virtual camera occurs such that a contour of the representative object is recognizable.

3. The method according to claim 1, wherein the partial region of the specified representative object is displayed in a partially transparent manner.

4. The method according to claim 1, wherein the partial region of the specified representative object is superimposed with a wire grid model.

5. The method according to claim 1, wherein a position of the virtual camera is specified in a defined region about a regular face position of the vehicle driver.

6. An image processing unit for image data of respective images recorded by multiple cameras arranged on a vehicle, comprising:

a controller programmed to;

provide a geometry of a three-dimensional environment model having a level ground region lying in a ground plane of the vehicle, and having a surface that includes a ground surface of the level ground region enclosing an ambient space that includes the vehicle;

project image data of the respective images of various cameras on the surface of the three-dimensional environment model as environment model image data;

determine image data to be signaled of an image to be displayed from a view of a virtual camera onto the surface of the three-dimensional environment model, wherein the view includes at least a portion of the vehicle, wherein a specified representative object of the vehicle is embedded in the three-dimensional model and at least a partial region of the specified representative object is transparently displayed such that a view through the partial region onto a respective partial surface region of the surface of the three-dimensional environment model occurs.

7. The image processing unit according to claim 6, wherein the determining of the image data to be signaled for the view of the virtual camera occurs such that a contour of the representative object is recognizable.

8. The image processing unit according to claim 6, wherein the partial region of the specified representative object is displayed in a partially transparent manner.

9. The image processing unit according to claim 6, wherein the partial region of the specified representative object is superimposed by a wire grid model.

10. The image processing unit according to claim 6, wherein a position of the virtual camera is specified in a defined region about a regular face position of the vehicle driver.