METHOD, APPARATUS, AND SYSTEM FOR PROVIDING A DISTANCE MARKER IN AN IMAGE

• US 20200134853A1
• Filed: 10/30/2018
• Published: 04/30/2020
• Est. Priority Date: 10/30/2018
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: MILICI, Mike
• Granted Patent: US 10,909,714 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G01C 21/3807 characterised by the type of data
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01C 21/3841 Data obtained from two or more sources, e.g. probe vehicles
• CPC Class Codes: G01C 3/02 Details
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

An approach is provided for rendering a distance marker in an image. The approach, for example, involves determining a plurality of camera characteristics of a camera used to capture the image. The plurality of camera characteristics, for instance, can include a camera field of view, a horizon offset, a camera mounting height, a camera mounting axis, or a combination thereof. The approach also involves determining a ground plane extending to a horizon depicted in the image, a camera position with respect to the ground plane, and an image plane based on the plurality of characteristics, wherein the image plane is orthogonal to the ground plane and intersects the ground plane at a designated distance from the camera position. The approach further involves projecting a ray from the camera position through the distance marker on the ground plane to a marker position on the image plane, and rendering the distance marker in the image based on the marker position on the image plane.

Claims

1. A method for rendering a distance marker in an image comprising:

determining a plurality of camera characteristics of a camera used to capture the image, wherein the plurality of camera characteristics includes a camera field of view, a horizon offset, a camera mounting height, a camera mounting axis, or a combination thereof;

determining a ground plane extending to a horizon depicted in the image, a camera position with respect to the ground plane, and an image plane based on the plurality of characteristics, wherein the image plane is orthogonal to the ground plane and intersects the ground plane at a designated distance from the camera position;

determining a first marker position on the ground plane that corresponds to the distance marker;

projecting a ray from the camera position through the first marker position on the ground plane to a second marker position on the image plane; and

rendering the distance marker in the image based on the second marker position on the image plane.

2. The method of claim 1, further comprising:

projecting the distance marker at each designated distance interval from the camera position.

3. The method of claim 2, further comprising:

determining an initial distance interval of said each designated distance interval based on the camera field of view.

4. The method of claim 2, wherein the distance interval is lateral with respect to a direction of the camera.

5. The method of claim 2, wherein the camera is mounted on a vehicle, and wherein the distance interval is lateral with respect to a longitudinal axis of the vehicle, a transverse axis of the vehicle, or a combination thereof.

6. The method of claim 1, further comprising:

calculating a proportion of a length swept out for the ray through the first marker position with respect to the designated distance at which the image plane intersects the ground plane; and

applying the proportion to the horizon offset on the image plane to determine a rendering position of the distance marker at the second marker position of the image plane.

7. The method of claim 6, further comprising:

normalizing the proportion to 1 before applying the proportion against the horizon offset.

8. The method of claim 1, wherein the horizon offset represents an area of a sensor array of the camera that corresponds to an image area that is below the horizon depicted in the image.

9. The method of claim 1, wherein the camera is mounted on a vehicle, and wherein the rendering of the distance marker in the image is performed in real-time as the vehicle travels.

10. The method of claim 1, wherein the image plane corresponds to a two-dimensional projection of an environment depicted in the image.

11. An apparatus for rendering a distance marker in an image comprising:

at least one processor; and

at least one memory including computer program code for one or more programs,

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following,

providing data for presenting a user interface depicting the image;

receiving an input for selecting a location in the image;

determining a ground plane with respect to a horizon depicted in the image, a camera position of a camera used to capture the image, and an image plane orthogonal to the ground plane representing a two-dimensional environment depicted in the image including the location;

projecting a ray from the selected location on the image plane through the ground plane to the camera position; and

determining the distance of the location from the camera position based on an intersection point of the ray with the ground plane.

12. The apparatus of claim 11, wherein the apparatus is further caused to:

render the distance marker in the user interface to represent the determined distance.

13. The apparatus of claim 11, wherein the camera is mounted on a vehicle, and wherein the rendering of the distance marker in the user interface is performed in real-time as the vehicle travels.

14. The apparatus of claim 11, wherein the user interface is provided as a web-based application, a native application, or a combination thereof.

15. The apparatus of claim 11, wherein the image plane intersects the ground plane at a designated distance from the camera position.

16. A non-transitory computer-readable storage medium for rendering a distance marker in an image, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:

determining a plurality of camera characteristics of a camera used to capture the image;

determining a ground plane extending to a horizon depicted in the image, a camera position with respect to the ground plane, and an image plane based on the plurality of characteristics, wherein the image plane is orthogonal to the ground plane and intersects the ground plane at a designated distance from the camera position;

projecting a ray from the camera position through the distance marker on the ground plane to a marker position on the image plane; and

rendering the distance marker in the image based on the marker position on the image plane.

17. The non-transitory computer-readable storage medium of claim 16, wherein the plurality of camera characteristics includes a camera field of view, a horizon offset, a camera mounting height, a camera mounting axis, or a combination thereof

18. The non-transitory computer-readable storage medium of claim 16, wherein the apparatus is further caused to perform:

projecting the distance marker at each designated distance interval from the camera position.

19. The non-transitory computer-readable storage medium of claim 18, wherein the apparatus is further caused to perform:

determining an initial distance interval of said each designated distance interval based on the camera field of view.

20. The non-transitory computer-readable storage medium of claim 18, wherein the distance interval is lateral with respect to a direction of the camera.